Actuator.h

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#ifndef PMPL_ACTUATOR_H_
#define PMPL_ACTUATOR_H_
 
#include <iostream>
#include <vector>
 
#include "Control.h"
#include "Geometry/Boundaries/Range.h"
 
class Robot;
class XMLNode;
 
 
class Actuator final {
 
  public:
 
 
    enum class DynamicsType {Force, Velocity};
 
 
    Actuator(Robot* const _r, const std::string& _label,
        const DynamicsType _t = DynamicsType::Force);
 
    Actuator(Robot* const _r, XMLNode& _node);
 
    Actuator(Robot* const _r, const Actuator& _a);
 
 
    Robot* GetRobot() const;
 
    std::string GetLabel() const;
 
    DynamicsType GetDynamicsType() const;
 
    void SetLimits(const std::vector<double>& _min,
        const std::vector<double>& _max);
 
    void SetMaxForce(const double _total);
 
 
    std::vector<bool> ControlMask() const;
 
    std::vector<double> ComputeOutput(const Control::Signal& _s) const;
 
    Control::Signal ComputeNearestSignal(const std::vector<double>& _force) const;
 
    Control GetRandomControl() const noexcept;
 
 
  private:
 
 
    void ComputeControlSpace();
 
 
    friend std::ostream& operator<<(std::ostream&, const Actuator&);
 
 
    Robot* const m_robot;                
 
    std::string m_label;                 
 
    std::vector<bool> m_mask;            
    std::vector<Range<double>> m_limits; 
    double m_maxForce;                   
 
    DynamicsType m_type{DynamicsType::Force}; 
 
    ControlSpace m_controlSpace;      
 
 
};
 
#endif