robot/BasicControlInterface

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/* **-*-c++-*-**************************************************************
  Copyright (C)2003 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: BasicControlInterface 1039 2004-02-11 20:50:52Z jungd $
  $Revision: 1.3 $
  $Date: 2004-02-11 15:50:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_BASICCONTROLINTERFACE_
#define _ROBOT_BASICCONTROLINTERFACE_

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

#include <base/Vector>


namespace robot {

/**
 * Partial inplementation of ControlInterface to ease the implementation
 *  of concrete ControlInterface subclasses.
 */
class BasicControlInterface : public ControlInterface
{
public:
  BasicControlInterface(String name, String type, Int inputSize=0, Int outputSize=0)
    : ControlInterface(name,type), numInputs(inputSize), numOutputs(outputSize),
      lastInputs(inputSize) {}

  BasicControlInterface(const BasicControlInterface& bci)
    : ControlInterface(bci), numInputs(bci.numInputs), numOutputs(bci.numOutputs),
      lastInputs(bci.numInputs) {}

  virtual Int           inputSize() const 
    { recomputeInputSize(); return numInputs; }
  virtual String        inputName(Int i) const = 0;
  virtual Real          getInput(Int i) const = 0;
  virtual const Vector& getInputs() const 
    {
      recomputeInputSize();
      for(Int i=0; i<numInputs; i++)
        lastInputs[i] = getInput(i);
      return lastInputs;
    }

  virtual Int    outputSize() const 
    { recomputeOutputSize(); return numOutputs; }
  virtual String outputName(Int i) const = 0;
  virtual void   setOutput(Int i, Real value) = 0;
  virtual void   setOutputs(const Vector& values) 
    {
      recomputeOutputSize();
      Assert(values.size() == numOutputs);
      for(Int o=0; o<numOutputs; o++)
        setOutput(o, values[o]);
    }

protected:
  virtual void recomputeInputSize() const {}
  virtual void recomputeOutputSize() const {}

  mutable Int numInputs, numOutputs;
  mutable Vector lastInputs;
};


} // robot

#endif

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