%% R1000
N=9;
% traj
load('pose1_isa_depth_95mm.mat');
time = (100:size(q_log,2))/2000;
q_J = q_log(2:10,100:end);
qd_J = vel_log(2:10,100:end);
qdd_J = acc_log(2:10,100:end);

% Dynamics parameters
link_mass = robot.m;
com_pos = robot.com;
link_inertia = robot.I;

thetalist = q_J';
dthetalist = qd_J';
ddthetalist = qdd_J';

%real traj
% get_GCTraj_R1000_DVT;
% thetalist = idntfcnTrjctry(6).q';
% dthetalist = idntfcnTrjctry(6).qd';
% ddthetalist = idntfcnTrjctry(6).qdd';

% Get general mass matrix
Glist=[];
for i = 1:N
    link_inertia(:,:,i) = robot.Home.R(:,:,i)'*link_inertia(:,:,i)*robot.Home.R(:,:,i);
    Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
    Glist = cat(3, Glist, Gb);
end

% Get the com pos transformation in each joint reference frame
% Mlist_CG = [];
% for i = 0:N-1
%     if i == 0
%         M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
%     else
%         M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
%     end
%     Mlist_CG = cat(3, Mlist_CG, M);
% end
% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
% Mlist_CG = cat(3, Mlist_CG, M);

% Get the com pos transformation in each joint reference frame
% FIXME: BUG here
% Mlist_CG=[];
% for i = 0:N-1
%     if i == 0
%         M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
%     else
%         rotation_i = diag([1,1,1]);
%         for j = 1:i
%             rotation_i = rotation_i*TransToRp(robot.T(:,:,i));
%             rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1));
%         end
%         M = TransInv(RpToTrans(rotation_i,rotation_i*com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,rotation_j*com_pos(:,i+1));
%     end
%     Mlist_CG = cat(3, Mlist_CG, M);
% end
% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
% Mlist_CG = cat(3, Mlist_CG, M);

% ct=[];
% Mlist_CG=[];
% for i = 1:N
%     if i == 1
%         ct(:,i) = com_pos_R1(:,i);
%     elseif i< 9
%         ct(:,i) = -com_pos_R2(:,i-1)+com_pos_R1(:,i);
%     else
%         ct(:,i) = -com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
%     end
%     robot.Home.com(:,i) = ct(:,i);
%     M = RpToTrans(robot.T(1:3,1:3,i),robot.Home.R(:,:,i)*robot.Home.com(:,i));
%     Mlist_CG = cat(3, Mlist_CG, M);
% end
% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
% Mlist_CG = cat(3, Mlist_CG, M);

% Mlist_CG=[];
% for i = 1:N
%         if i == 1
%         M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1];
%     elseif i<=8
%         M = RpToTrans(TransToRp(robot.T(:,:,i)),robot.Home.R(:,:,i)*(-com_pos_R2(:,i-1)+com_pos_R1(:,i)));
%     elseif i==9
%         M = RpToTrans(TransToRp(robot.T(:,:,i)),robot.Home.R(:,:,i)*(-[0;0;0.05896]+com_pos_R1(:,i-1)+com_pos_R1(:,i)));
%         end
%         Mlist_CG = cat(3, Mlist_CG, M);
% end
% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
% Mlist_CG = cat(3, Mlist_CG, M);

% get the CG at the world base frame
com_pos_R1 = robot.com_pos_R1;
com_pos_R2 = robot.com_pos_R2;
ct=[];
Mlist_CG_Base=[];
for i = 1:N
    if i == 1
        ct(:,i) = com_pos_R1(:,i);
    elseif i< 9
        ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
    else
        ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0.23;0;0.05896]+com_pos_R1(:,i);
    end
    robot.Home.com(:,i) = ct(:,i);
    M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i));
    Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base);
end
% get the CG at the last GC frame
Mlist_CG=[];
for i = 1:N
    if i == 1
        Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i);
    else
        Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i);
    end
end
M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
Mlist_CG = cat(3, Mlist_CG, M);


% Get the end efforce transformation in each joint reference frame
Mlist_ED = [];
for i = 1:N
    M = robot.T(:,:,i);
    Mlist_ED = cat(3, Mlist_ED, M);
end
M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
Mlist_ED = cat(3, Mlist_ED, M);

%TODO: Get Slist form DH table method
% RRRRRRRRP
Slist=robot.slist;
exf=[0;0;0;0;1;0];

for i = 1:length(thetalist)
    [V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
        = InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
        [0;0;-9.806], exf, Mlist_CG, Glist, Slist);
    %         [0;0;-9.806], exf, Mlist_CG, Glist, Slist);

    G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
    T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
    %Want to get the result from TC_delta, which means F at CG represent under frame at the last origin  
    %why we need Mlist_ED
    %please explain this more
    F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
end
% plot Torque
% above 2020b 
% F_Simpack = pagetranspose(F_Simpack);
% below 2020b

% for i = 1:3
%     subplot(3,1,i);
%     hold on;
%     %added minus, so should be the same as simpack
%     plot(time,taumat(i+6,:))
%     xlabel('time(s)')
%     ylabel('Torque(Nm)')
% %     plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
% end

F_Simpack = permute(F_Simpack,[2 1 3]);
F_Simpack = -F_Simpack;

% 确保输出文件夹存在
output_main = 'output';
output_sub = fullfile(output_main, 'pose1_isa_depth_95mm');

if ~exist(output_main, 'dir')
    mkdir(output_main);
end
if ~exist(output_sub, 'dir')
    mkdir(output_sub);
end

% 获取时间序列长度
n_time = size(F_Simpack, 3);

% 遍历所有关节（1到8）
for joint_idx = 1:8
    fig = figure('Position', [100, 100, 1000, 900]);  % 创建大尺寸图形窗口
    
    % 遍历三个力矩分量
    for comp_idx = 1:3
        subplot(3, 1, comp_idx);
        hold on;
        
        % 提取并处理数据（取负值以匹配Simpack约定）
        data = -squeeze(F_Simpack(joint_idx, comp_idx, :));
        
        % 绘制力矩曲线
        plot(time, data, 'LineWidth', 1.5);
        
        % 计算并标注最大绝对值（峰值）
        [abs_max, max_idx] = max(abs(data));  % 找到最大绝对值
        peak_value = data(max_idx);           % 对应的实际值（带符号）
        
        % 标记峰值点
        plot(time(max_idx), peak_value, 'ro', 'MarkerSize', 8, 'LineWidth', 2);
        
        % 创建标注文本
        text_str = sprintf('Peak: %.2f Nm (|%.2f|)', peak_value, abs_max);
        
        % 确定文本位置（避免重叠）
        y_range = ylim;
        y_offset = 0.05 * (y_range(2) - y_range(1));
        
        if peak_value >= 0
            text_pos = [time(max_idx), peak_value - y_offset];
            vert_align = 'top';
        else
            text_pos = [time(max_idx), peak_value + y_offset];
            vert_align = 'bottom';
        end
        
        % 添加文本标注
        text(text_pos(1), text_pos(2), text_str, ...
            'VerticalAlignment', vert_align, 'HorizontalAlignment', 'center', ...
            'FontSize', 10, 'BackgroundColor', 'white', 'EdgeColor', 'black');
        
        % 添加标签和网格
        switch comp_idx
            case 1
                title('Bending Moment (M_x)');
            case 2
                title('Bending Moment (M_y)');
            case 3
                title('Torque (M_z)');
        end
        xlabel('Time [s]');
        ylabel('Moment [Nm]');
        grid on;
        box on;
    end
    
    % 添加总标题
    sgtitle(sprintf('Joint %d - Moment Components (Peak Values)', joint_idx), ...
           'FontSize', 14, 'FontWeight', 'bold');
    
    % 保存图形
    saveas(fig, fullfile(output_sub, sprintf('joint_%d.png', joint_idx)));
    close(fig);  % 关闭图形释放内存
end

disp('所有关节图表已保存至 output/pose2_isa_depth_95mm 文件夹');

% Use Body Twist cal linear vel, but can't cal the end frame vel
% [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
%     [0;0;0], exf, Mlist, Glist, Slist);
% j=1;
% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
% j=2;
% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23);