/*---------------------------------------------------------------------------*\
  =========                 |
  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
   \\    /   O peration     |
    \\  /    A nd           | www.openfoam.com
     \\/     M anipulation  |
-------------------------------------------------------------------------------
    Copyright (C) 2019 OpenFOAM Foundation
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.

    OpenFOAM is free software: you can redistribute it and/or modify it
    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
    for more details.

    You should have received a copy of the GNU General Public License
    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.

Class
    Foam::RBD::restraints::angleControlWave2COM

Group
    grpRigidBodyDynamicsRestraints

Description
    Time-dependent angle control by torque input, based on wave function.

Usage
    Example:
    \verbatim
    restraints
    {
        angle
        {
            type        angleControlWave2COM;
            body        rigidObject;
            parameters 	(1 0.001 0.1 0 0.1);
		// (Pgain, Dgain, max, , order, relaxation time ), order: xyz=0, zyx=1
	    x_axis	(0.174533 20.0 -0.78540 0)	//  (A[rad], f [Hz], P [rad], S [rad]), A*sin(2pi*f*t+P)+S
	    y_axis	(0.174533 20.0 -0.78540 0)	//  (A[rad], f [Hz], P [rad], S [rad]), A*sin(2pi*f*t+P)+S
	    z_axis	(0.174533 20.0 -0.78540 0)	//  (A[rad], f [Hz], P [rad], S [rad]), A*sin(2pi*f*t+P)+S
	    reaction	name;
        }
    }
    \endverbatim

SourceFiles
    angleControlWave2COM.C

\*---------------------------------------------------------------------------*/

#ifndef RBD_restraints_angleControlWave2COM_H
#define RBD_restraints_angleControlWave2COM_H

#include "rigidBodyRestraint.H"

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

namespace Foam
{
namespace RBD
{
namespace restraints
{

/*---------------------------------------------------------------------------*\
                          Class angleControlWave2COM Declaration
\*---------------------------------------------------------------------------*/

class angleControlWave2COM
:
    public restraint
{
    // Private data

        //- (P gain , D gain, max, order, relaxation time ):  
        Tensor<scalar> parameters_;

        //- A * sin( 2*pi*f*t + P ) + S  
        Tensor<scalar> x_axis_;
        Tensor<scalar> y_axis_;
        Tensor<scalar> z_axis_;
	
	//- body ID for the reaction force
	word	reaction_;

public:

    //- Runtime type information
    TypeName("angleControlWave2COM");


    // Constructors

        //- Construct from components
        angleControlWave2COM
        (
            const word& name,
            const dictionary& dict,
            const rigidBodyModel& model
        );

        //- Construct and return a clone
        virtual autoPtr<restraint> clone() const
        {
            return autoPtr<restraint>
            (
                new angleControlWave2COM(*this)
            );
        }


    //- Destructor
    virtual ~angleControlWave2COM();


    // Member Functions
        virtual void restrain
        (
            scalarField& tau,
            Field<spatialVector>& fx,
            const rigidBodyModelState& state
        ) const;

        //- Update properties from given dictionary
        virtual bool read(const dictionary& dict);

        //- Write
        virtual void write(Ostream&) const;

	// Transform Rodrigues matrix to Rodrigues vector
	vector	RodriguesVectorFromMatrix
	(
	    const Tensor<scalar> R
	) const;
};


// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

} // End namespace restraints
} // End namespace RBD
} // End namespace Foam

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

#endif

// ************************************************************************* //
