robot/AggregateControlInterface

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/* **-*-c++-*-**************************************************************
  Copyright (C)2002 David Jung <opensim@pobox.com>

  This program/file 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 2 of the License, or
  (at your option) any later version.
        
  This program 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. (http://www.gnu.org)
        
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

  $Id: AggregateControlInterface 1039 2004-02-11 20:50:52Z jungd $
  $Revision: 1.1 $
  $Date: 2004-02-11 15:50:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_AGGREGATECONTROLINTERFACE_
#define _ROBOT_AGGREGATECONTROLINTERFACE_

#include <robot/robot>
#include <robot/ControlInterface>


namespace robot {

/**
 * Aggregates one of more ControlInterfaces into a single ControlInterface by
 *  concatenating their input/output vectors.
 */
class AggregateControlInterface : public ControlInterface
{
public:
  AggregateControlInterface(const String& name, const String& type,
                            array<ref<ControlInterface> > interfaces);
  AggregateControlInterface(const String& name, const String& type,
                            ref<ControlInterface> interface1, ref<ControlInterface> interface2);
  AggregateControlInterface(const AggregateControlInterface& aci);

  virtual String className() const { return String("AggregateControlInterface"); }

  virtual Int           inputSize() const 
    { recomputeInputSize(); return numInputs; }
  virtual String        inputName(Int i) const;
  virtual Real          getInput(Int i) const;
  virtual const Vector& getInputs() const;

  virtual Int    outputSize() const 
    { recomputeOutputSize(); return numOutputs; }
  virtual String outputName(Int i) const;
  virtual void   setOutput(Int i, Real value);
  virtual void   setOutputs(const Vector& values);

protected:
  void recomputeInputSize() const;
  void recomputeOutputSize() const;
  
  void inputIndex(Int aindex, Int& interfaceIndex, Int& index) const;  
  void outputIndex(Int aindex, Int& interfaceIndex, Int& index) const;

  array< ref<ControlInterface> > interfaces;

  mutable Int numInputs, numOutputs;
  mutable Vector lastInputs;
  mutable array<Int> inputOffsets;
  mutable array<Int> outputOffsets;
};


} // robot

#endif

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