#ifndef PMSM_H
#define PMSM_H

#include <stat/libFN.h>

//TODO hardcoded RVs!!!
RV rx ( "{ia ib om th }");
RV ru ( "{ua ub }");
RV ry ( "{oia oib }");

// class uipmsm : public uibase{
// 	double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
// };

//! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$
class IMpmsm : public diffbifn {
protected:
	double Rs, Ls, dt, Ypm, kp, p,  J, Mz;

public:
	IMpmsm() :diffbifn (rx.count(), rx, ru ) {};
	//! Set mechanical and electrical variables
	void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;}

	vec eval ( const vec &x0, const vec &u0 ) {
		// last state
		double iam = x0 ( 0 );
		double ibm = x0 ( 1 );
		double omm = x0 ( 2 );
		double thm = x0 ( 3 );
		double uam = u0 ( 0 );
		double ubm = u0 ( 1 );

		vec xk=zeros ( 4 );
		//ia
		xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
		//ib
		xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
		//om
		xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
		//th
		xk ( 3 ) = thm + omm*dt; // <0..2pi>
		if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi;
		if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi;
		return xk;
	}

	void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
		double iam = x0 ( 0 );
		double ibm = x0 ( 1 );
		double omm = x0 ( 2 );
		double thm = x0 ( 3 );
		// d ia
		A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
		A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
		// d ib
		A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
		A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
		// d om
		A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
		A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) );
		A ( 2,2 ) = 1.0;
		A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
		// d th
		A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
	}

	void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};

};

//! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$, equation for \f$\omega\f$ is omitted.$
class IMpmsmStat : public IMpmsm {
	IMpmsmStat() :IMpmsm() {};
	//! Set mechanical and electrical variables
	void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;}

	vec eval ( const vec &x0, const vec &u0 ) {
		// last state
		double iam = x0 ( 0 );
		double ibm = x0 ( 1 );
		double omm = x0 ( 2 );
		double thm = x0 ( 3 );
		double uam = u0 ( 0 );
		double ubm = u0 ( 1 );

		vec xk=zeros ( 4 );
		//ia
		xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
		//ib
		xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
		//om
		xk ( 2 ) = omm;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
		//th
		xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi>
		return xk;
	}

	void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
//		double iam = x0 ( 0 );
//		double ibm = x0 ( 1 );
		double omm = x0 ( 2 );
		double thm = x0 ( 3 );
		// d ia
		A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
		A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
		// d ib
		A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
		A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
		// d om
		A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
		A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) );
		A ( 2,2 ) = 1.0;
		A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
		// d th
		A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
	}

	void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};

};

//! Observation model for PMSM drive and its derivative with respect to \f$x\f$
class OMpmsm: public diffbifn {
public:
	OMpmsm() :diffbifn (2, rx,ru ) {};

	vec eval ( const vec &x0, const vec &u0 ) {
		vec y ( 2 );
		y ( 0 ) = x0 ( 0 );
		y ( 1 ) = x0 ( 1 );
		return y;
	}

	void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
		A.clear();
		A ( 0,0 ) = 1.0;
		A ( 1,1 ) = 1.0;
	}
};

#endif //PMSM_H