26 lines
835 B
C++
26 lines
835 B
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/control/util/controllerRunner.hpp"
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#include "okapi/impl/util/timeUtilFactory.hpp"
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namespace okapi {
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template <typename Input, typename Output> class ControllerRunnerFactory {
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public:
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/**
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* A utility class that runs a closed-loop controller.
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*
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* @param ilogger The logger this instance will log to.
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* @return
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*/
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static ControllerRunner<Input, Output>
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create(const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger()) {
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return ControllerRunner<Input, Output>(TimeUtilFactory::createDefault(), ilogger);
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}
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};
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} // namespace okapi
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