Control.h

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#ifndef PMPL_CONTROL_H_
#define PMPL_CONTROL_H_
 
#include <cstddef>
#include <iostream>
#include <set>
#include <vector>
 
#include "Geometry/Shapes/NBox.h"
 
class Actuator;
 
 
struct Control final {
 
 
  typedef std::vector<double> Signal;
 
 
  Actuator* actuator{nullptr}; 
  Signal signal;               
 
 
  Control();
 
  Control(Actuator* const _actuator, const Signal& _signal = Signal());
 
  Control(const Control&) = default;
  Control(Control&&) = default;
 
 
  Control& operator=(const Control&) = default;
  Control& operator=(Control&&) = default;
 
 
  std::vector<double> GetOutput() const;
 
 
  bool operator<(const Control& _rhs) const noexcept;
 
  bool operator==(const Control& _rhs) const noexcept;
  bool operator!=(const Control& _rhs) const noexcept;
 
 
};
 
std::ostream& operator<<(std::ostream&, const Control&);
 
 
typedef NBox ControlSpace;
 
 
typedef std::vector<Control> ControlSet;
 
std::vector<double> AggregatedControlVector(const ControlSet& _controls);
 
#endif