Adding interface for restraints

Abstract base classes translationalRestraint and rotationalRestraint are laid
out. Need to use them in sixDOFODE class and write basic restraints.

src/ODE/Make/files

@@ -16,12 +16,14 @@ sixDOF = sixDOF
 $(sixDOF)/finiteRotation/finiteRotation.C
 $(sixDOF)/sixDOFqODE/sixDOFqODE.C
 
-$(sixDOF)/constraints/rotationalConstraints/rotationalConstraint/rotationalConstraint.C
-$(sixDOF)/constraints/rotationalConstraints/constantAngularAcceleration/constantAngularAcceleration.C
+$(sixDOF)/sixDOFODE/constraints/rotationalConstraints/rotationalConstraint/rotationalConstraint.C
+$(sixDOF)/sixDOFODE/constraints/rotationalConstraints/constantAngularAcceleration/constantAngularAcceleration.C
+$(sixDOF)/sixDOFODE/constraints/translationalConstraints/translationalConstraint/translationalConstraint.C
+$(sixDOF)/sixDOFODE/constraints/translationalConstraints/constantTranslationalAcceleration/constantTranslationalAcceleration.C
+$(sixDOF)/sixDOFODE/constraints/translationalConstraints/periodicOscillation/periodicOscillation.C
 
-$(sixDOF)/constraints/translationalConstraints/translationalConstraint/translationalConstraint.C
-$(sixDOF)/constraints/translationalConstraints/constantTranslationalAcceleration/constantTranslationalAcceleration.C
-$(sixDOF)/constraints/translationalConstraints/periodicOscillation/periodicOscillation.C
+$(sixDOF)/sixDOFODE/restraints/translationalRestraints/translationalRestraint/translationalRestraint.C
+$(sixDOF)/sixDOFODE/restraints/rotationalRestraints/rotationalRestraint/rotationalRestraint.C
 
 $(sixDOF)/sixDOFODE/sixDOFODE.C
 $(sixDOF)/sixDOFODE/newSixDOFODE.C

src/ODE/sixDOF/sixDOFODE/constraintsAndRestraints.H

@@ -0,0 +1,10 @@
+#ifndef constraintsAndRestraints_H
+#define constraintsAndRestraints_H
+
+#include "translationalConstraint.H"
+#include "rotationalConstraint.H"
+
+#include "translationalRestraint.H"
+#include "rotationalRestraint.H"
+
+#endif

src/ODE/sixDOF/sixDOFODE/restraints/rotationalRestraints/rotationalRestraint/rotationalRestraint.C

@@ -0,0 +1,114 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | foam-extend: Open Source CFD
+   \\    /   O peration     | Version:     4.0
+    \\  /    A nd           | Web:         http://www.foam-extend.org
+     \\/     M anipulation  | For copyright notice see file Copyright
+-------------------------------------------------------------------------------
+License
+    This file is part of foam-extend.
+
+    foam-extend 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.
+
+    foam-extend 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 foam-extend.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "rotationalRestraint.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+    defineTypeNameAndDebug(rotationalRestraint, 0);
+    defineRunTimeSelectionTable(rotationalRestraint, word);
+}
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::rotationalRestraint::rotationalRestraint
+(
+    const word& name,
+    const dictionary& dict
+)
+:
+    name_(name)
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::rotationalRestraint::~rotationalRestraint()
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
+
+Foam::autoPtr<Foam::rotationalRestraint> Foam::rotationalRestraint::New
+(
+    const word& name,
+    const dictionary& dict
+)
+{
+    const word restraintType(dict.lookup("type"));
+
+    wordConstructorTable::iterator cstrIter =
+        wordConstructorTablePtr_->find(restraintType);
+
+    if (cstrIter == wordConstructorTablePtr_->end())
+    {
+        FatalErrorIn
+        (
+            "rotationalRestraint::New"
+            "\n("
+            "\n    const word& name,"
+            "\n    const dictionary& dict"
+            "\n)"
+        )   << "Unknown translation restraint type: " << restraintType
+            << endl << endl
+            << "Valid translation restraint types are: " << endl
+            << wordConstructorTablePtr_->sortedToc()
+            << exit(FatalError);
+    }
+
+    return autoPtr<rotationalRestraint>
+    (
+        cstrIter()
+        (
+            name,
+            dict
+        )
+    );
+}
+
+
+// * * * * * * * * * * * * * * * IOstream Operators  * * * * * * * * * * * * //
+
+Foam::Ostream& Foam::operator<<
+(
+    Ostream& os,
+    const rotationalRestraint& rr
+)
+{
+    os << rr.name_ << nl << token::BEGIN_BLOCK << nl;
+
+    rr.write(os);
+
+    os << token::END_BLOCK << endl;
+
+    os.check("Ostream& operator<<(Ostream&, const rotationalRestraint&");
+
+    return os;
+}
+
+
+// ************************************************************************* //

src/ODE/sixDOF/sixDOFODE/restraints/rotationalRestraints/rotationalRestraint/rotationalRestraint.H

@@ -0,0 +1,171 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | foam-extend: Open Source CFD
+   \\    /   O peration     | Version:     4.0
+    \\  /    A nd           | Web:         http://www.foam-extend.org
+     \\/     M anipulation  | For copyright notice see file Copyright
+-------------------------------------------------------------------------------
+License
+    This file is part of foam-extend.
+
+    foam-extend 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.
+
+    foam-extend 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 foam-extend.  If not, see <http://www.gnu.org/licenses/>.
+
+Class
+    Foam::rotationalRestraint
+
+Description
+    Abstract base class containing interface for rotational restraints used
+    within sixDOFODE classes.
+
+    Interface provides restraining moment to the rotational equations of
+    motion via moment() member function.
+
+Author
+    Vuko Vukcevic, FSB Zagreb.  All rights reserved.
+
+SourceFiles
+    rotationalRestraint.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef rotationalRestraint_H
+#define rotationalRestraint_H
+
+#include "typeInfo.H"
+#include "runTimeSelectionTables.H"
+#include "autoPtr.H"
+#include "dimensionedTypes.H"
+#include "dictionary.H"
+#include "Switch.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+                   Class rotationalRestraint Declaration
+\*---------------------------------------------------------------------------*/
+
+class rotationalRestraint
+{
+    // Private Data
+
+        //- Name of the restraint
+        word name_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("rotationalRestraint");
+
+
+    // Declare run-time constructor selection table
+
+        declareRunTimeSelectionTable
+        (
+            autoPtr,
+            rotationalRestraint,
+            word,
+            (
+                const word& name,
+                const dictionary& dict
+            ),
+            (name, dict)
+        );
+
+
+        //- Class used for the read-construction of
+        //  PtrLists of rotationalRestraint
+        class iNew
+        {
+        public:
+
+            iNew()
+            {}
+
+            autoPtr<rotationalRestraint> operator()(Istream& is) const
+            {
+                word name(is);
+                dictionary dict(is);
+                return rotationalRestraint::New(name, dict);
+            }
+        };
+
+
+    // Constructors
+
+        //- Construct from dictionary
+        rotationalRestraint
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<rotationalRestraint> clone() const = 0;
+
+
+    // Selectors
+
+        //- Return a reference to the selected rotationalRestraint
+        static autoPtr<rotationalRestraint> New
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
+
+    // Destructor
+
+        virtual ~rotationalRestraint();
+
+
+    // Member Functions
+
+        // Restraint specific functions
+
+            //- Return restraining force (in the local coordinate system)
+            virtual vector restrainingMoment
+            (
+                const scalar t,
+                const tensor& toRelative,
+                const vector& omega
+            ) const = 0;
+
+
+    // I-O Functions and Operators
+
+        //- Virtual write function
+        virtual void write(Ostream& os) const = 0;
+
+        //- Ostream operator implemented in terms of write operator
+        friend Ostream& operator<<
+        (
+            Ostream& os,
+            const rotationalRestraint& rr
+        );
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/ODE/sixDOF/sixDOFODE/restraints/translationalRestraints/translationalRestraint/translationalRestraint.C

@@ -0,0 +1,114 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | foam-extend: Open Source CFD
+   \\    /   O peration     | Version:     4.0
+    \\  /    A nd           | Web:         http://www.foam-extend.org
+     \\/     M anipulation  | For copyright notice see file Copyright
+-------------------------------------------------------------------------------
+License
+    This file is part of foam-extend.
+
+    foam-extend 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.
+
+    foam-extend 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 foam-extend.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "translationalRestraint.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+    defineTypeNameAndDebug(translationalRestraint, 0);
+    defineRunTimeSelectionTable(translationalRestraint, word);
+}
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::translationalRestraint::translationalRestraint
+(
+    const word& name,
+    const dictionary& dict
+)
+:
+    name_(name)
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::translationalRestraint::~translationalRestraint()
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
+
+Foam::autoPtr<Foam::translationalRestraint> Foam::translationalRestraint::New
+(
+    const word& name,
+    const dictionary& dict
+)
+{
+    const word restraintType(dict.lookup("type"));
+
+    wordConstructorTable::iterator cstrIter =
+        wordConstructorTablePtr_->find(restraintType);
+
+    if (cstrIter == wordConstructorTablePtr_->end())
+    {
+        FatalErrorIn
+        (
+            "translationalRestraint::New"
+            "\n("
+            "\n    const word& name,"
+            "\n    const dictionary& dict"
+            "\n)"
+        )   << "Unknown translation restraint type: " << restraintType
+            << endl << endl
+            << "Valid translation restraint types are: " << endl
+            << wordConstructorTablePtr_->sortedToc()
+            << exit(FatalError);
+    }
+
+    return autoPtr<translationalRestraint>
+    (
+        cstrIter()
+        (
+            name,
+            dict
+        )
+    );
+}
+
+
+// * * * * * * * * * * * * * * * IOstream Operators  * * * * * * * * * * * * //
+
+Foam::Ostream& Foam::operator<<
+(
+    Ostream& os,
+    const translationalRestraint& tr
+)
+{
+    os << tr.name_ << nl << token::BEGIN_BLOCK << nl;
+
+    tr.write(os);
+
+    os << token::END_BLOCK << endl;
+
+    os.check("Ostream& operator<<(Ostream&, const translationalRestraint&");
+
+    return os;
+}
+
+
+// ************************************************************************* //

src/ODE/sixDOF/sixDOFODE/restraints/translationalRestraints/translationalRestraint/translationalRestraint.H

@@ -0,0 +1,172 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | foam-extend: Open Source CFD
+   \\    /   O peration     | Version:     4.0
+    \\  /    A nd           | Web:         http://www.foam-extend.org
+     \\/     M anipulation  | For copyright notice see file Copyright
+-------------------------------------------------------------------------------
+License
+    This file is part of foam-extend.
+
+    foam-extend 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.
+
+    foam-extend 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 foam-extend.  If not, see <http://www.gnu.org/licenses/>.
+
+Class
+    Foam::translationalRestraint
+
+Description
+    Abstract base class containing interface for translational restraints used
+    within sixDOFODE classes.
+
+    Interface provides restraining forces to the translational equations of
+    motion via force() member function.
+
+Author
+    Vuko Vukcevic, FSB Zagreb.  All rights reserved.
+
+SourceFiles
+    translationalRestraint.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef translationalRestraint_H
+#define translationalRestraint_H
+
+#include "typeInfo.H"
+#include "runTimeSelectionTables.H"
+#include "autoPtr.H"
+#include "dimensionedTypes.H"
+#include "dictionary.H"
+#include "Switch.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+                   Class translationalRestraint Declaration
+\*---------------------------------------------------------------------------*/
+
+class translationalRestraint
+{
+    // Private Data
+
+        //- Name of the restraint
+        word name_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("translationalRestraint");
+
+
+    // Declare run-time constructor selection table
+
+        declareRunTimeSelectionTable
+        (
+            autoPtr,
+            translationalRestraint,
+            word,
+            (
+                const word& name,
+                const dictionary& dict
+            ),
+            (name, dict)
+        );
+
+
+        //- Class used for the read-construction of
+        //  PtrLists of translationalRestraint
+        class iNew
+        {
+        public:
+
+            iNew()
+            {}
+
+            autoPtr<translationalRestraint> operator()(Istream& is) const
+            {
+                word name(is);
+                dictionary dict(is);
+                return translationalRestraint::New(name, dict);
+            }
+        };
+
+
+    // Constructors
+
+        //- Construct from dictionary
+        translationalRestraint
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<translationalRestraint> clone() const = 0;
+
+
+    // Selectors
+
+        //- Return a reference to the selected translationalRestraint
+        static autoPtr<translationalRestraint> New
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
+
+    // Destructor
+
+        virtual ~translationalRestraint();
+
+
+    // Member Functions
+
+        // Restraint specific functions
+
+            //- Return restraining force (in the global coordinate system)
+            virtual vector restrainingForce
+            (
+                const scalar t,
+                const tensor& toRelative,
+                const vector& x,
+                const vector& u
+            ) const = 0;
+
+
+    // I-O Functions and Operators
+
+        //- Virtual write function
+        virtual void write(Ostream& os) const = 0;
+
+        //- Ostream operator implemented in terms of write operator
+        friend Ostream& operator<<
+        (
+            Ostream& os,
+            const translationalRestraint& tr
+        );
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/ODE/sixDOF/sixDOFODE/sixDOFODE.C

@@ -200,6 +200,10 @@ void Foam::sixDOFODE::setState(const sixDOFODE& sd)
     // Copy constraints
     translationalConstraints_ = sd.translationalConstraints_;
     rotationalConstraints_ = sd.rotationalConstraints_;
+
+    // Copy restraints
+    translationalRestraints_ = sd.translationalRestraints_;
+    rotationalRestraints_ = sd.rotationalRestraints_;
 }
 
 
@@ -261,7 +265,10 @@ Foam::sixDOFODE::sixDOFODE(const IOobject& io)
     oldStatePtr_(),
 
     translationalConstraints_(),
-    rotationalConstraints_()
+    rotationalConstraints_(),
+
+    translationalRestraints_(),
+    rotationalRestraints_()
 {
     // Sanity checks
     if (mass_.value() < SMALL)
@@ -281,7 +288,7 @@ Foam::sixDOFODE::sixDOFODE(const IOobject& io)
             << exit(FatalError);
     }
 
-    // Read and construct constraints
+    // Read and construct constraints and restraints
 
     // Read translation constraints if they are present
     if (dict().found("translationalConstraints"))
@@ -304,6 +311,28 @@ Foam::sixDOFODE::sixDOFODE(const IOobject& io)
         );
         rotationalConstraints_.transfer(rcList);
     }
+
+    // Read translation restraints if they are present
+    if (dict().found("translationalRestraints"))
+    {
+        PtrList<translationalRestraint> tcList
+        (
+            dict().lookup("translationalRestraints"),
+            translationalRestraint::iNew()
+        );
+        translationalRestraints_.transfer(tcList);
+    }
+
+    // Read rotation restraints if they are present
+    if (dict().found("rotationalRestraints"))
+    {
+        PtrList<rotationalRestraint> rcList
+        (
+            dict().lookup("rotationalRestraints"),
+            rotationalRestraint::iNew()
+        );
+        rotationalRestraints_.transfer(rcList);
+    }
 }
 
 
@@ -340,7 +369,10 @@ Foam::sixDOFODE::sixDOFODE(const word& name, const sixDOFODE& sd)
     oldStatePtr_(),
 
     translationalConstraints_(sd.translationalConstraints_),
-    rotationalConstraints_(sd.rotationalConstraints_)
+    rotationalConstraints_(sd.rotationalConstraints_),
+
+    translationalRestraints_(sd.translationalRestraints_),
+    rotationalRestraints_(sd.rotationalRestraints_)
 {}
 
 
@@ -398,6 +430,20 @@ bool Foam::sixDOFODE::writeData(Ostream& os) const
             << token::END_STATEMENT << endl;
     }
 
+    if (!translationalRestraints_.empty())
+    {
+        os.writeKeyword("translationalRestraints")
+            << translationalRestraints_
+            << token::END_STATEMENT << nl << endl;
+    }
+
+    if (!rotationalRestraints_.empty())
+    {
+        os.writeKeyword("rotationalRestraints")
+            << rotationalRestraints_
+            << token::END_STATEMENT << endl;
+    }
+
     return os.good();
 }
 

src/ODE/sixDOF/sixDOFODE/sixDOFODE.H

@@ -28,8 +28,8 @@ Description
     Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
     equations with necessary interface for two-way coupling with CFD solvers.
 
-    Holds list of translational and rotational constraints to be used in derived
-    classes.
+    Holds list of translational and rotational constraints and restraings to be
+    used in derived classes.
 
 Author
     Dubravko Matijasevic, FSB Zagreb.  All rights reserved.
@@ -56,9 +56,7 @@ SourceFiles
 #include "runTimeSelectionTables.H"
 #include "Switch.H"
 #include "foamTime.H"
-#include "translationalConstraint.H"
-#include "rotationalConstraint.H"
-#include "PtrList.H"
+#include "constraintsAndRestraints.H"
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
@@ -166,6 +164,15 @@ class sixDOFODE
             PtrList<rotationalConstraint> rotationalConstraints_;
 
 
+        // Motion restraints
+
+            //- List of translational restraints
+            PtrList<translationalRestraint> translationalRestraints_;
+
+            //- List of rotational restraints
+            PtrList<rotationalRestraint> rotationalRestraints_;
+
+
     // Private Member Functions
 
         // Copy control
@@ -318,6 +325,17 @@ public:
             rotationalConstraints() const;
 
 
+        // Access to motion restraints
+
+            //- Return const reference to translational restraints
+            inline const PtrList<translationalRestraint>&
+            translationalRestraints() const;
+
+            //- Return const reference to rotational restraints
+            inline const PtrList<rotationalRestraint>&
+            rotationalRestraints() const;
+
+
         // Virtual interface for 6DOF motion state
 
             // Variables in relative coordinate system

src/ODE/sixDOF/sixDOFODE/sixDOFODEI.H

@@ -139,4 +139,18 @@ Foam::sixDOFODE::rotationalConstraints() const
     return rotationalConstraints_;
 }
 
+
+const Foam::PtrList<Foam::translationalRestraint>&
+Foam::sixDOFODE::translationalRestraints() const
+{
+    return translationalRestraints_;
+}
+
+
+const Foam::PtrList<Foam::rotationalRestraint>&
+Foam::sixDOFODE::rotationalRestraints() const
+{
+    return rotationalRestraints_;
+}
+
 // ************************************************************************* //