RigidBodyMotion.H

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#ifndef ACTUATOR_RIGID_BODY_MOTION_H
#define ACTUATOR_RIGID_BODY_MOTION_H
 
#include "src/core/vs/quaternion.H"
#include "src/wind_energy/actuator/ActParser.H"
#include "src/wind_energy/actuator/motion/RigidTransform.H"
#include "src/wind_energy/actuator/motion/TimeTable.H"
 
#include <cstdint>
 
namespace kynema_sgf::actuator::motion {

class RigidBodyMotion
{
public:
    void read_inputs(
        const utils::ActParser& pp,
        const vs::Vector& initial_position,
        const vs::Tensor& initial_orientation,
        const std::string& angular_velocity_key = "angular_velocity",
        const vs::Vector& default_angular_velocity = vs::Vector::zero());
 
    [[nodiscard]] vs::Vector position(amrex::Real time) const;
    [[nodiscard]] vs::Vector translation_velocity(amrex::Real time) const;
    [[nodiscard]] vs::Tensor orientation(amrex::Real time) const;
    [[nodiscard]] vs::Vector angular_velocity(amrex::Real time) const;
    [[nodiscard]] RigidTransform pose(amrex::Real time) const;
 
    [[nodiscard]] bool moves() const;
 
private:
    enum class OrientationFormat : std::uint8_t { RollPitchYaw, Quaternion };
 
    [[nodiscard]] vs::Quaternion orientation_quaternion(int row) const;
    void
    warn_ambiguous_orientation_intervals(const std::string& filename) const;
 
    vs::Vector m_initial_position{vs::Vector::zero()};
    vs::Vector m_constant_velocity{vs::Vector::zero()};
    vs::Tensor m_initial_orientation{vs::Tensor::identity()};
    vs::Vector m_constant_angular_velocity{vs::Vector::zero()};
    TimeTable m_position_table;
    TimeTable m_velocity_table;
    TimeTable m_orientation_table;
    TimeTable m_angular_velocity_table;
    OrientationFormat m_orientation_format{OrientationFormat::RollPitchYaw};
};
 
} // namespace kynema_sgf::actuator::motion
 
#endif