Refactored everything.

include/okapi/impl/control/util/controllerRunnerFactory.hpp

@@ -0,0 +1,25 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/control/util/controllerRunner.hpp"
+#include "okapi/impl/util/timeUtilFactory.hpp"
+
+namespace okapi {
+template <typename Input, typename Output> class ControllerRunnerFactory {
+  public:
+  /**
+   * A utility class that runs a closed-loop controller.
+   *
+   * @param ilogger The logger this instance will log to.
+   * @return
+   */
+  static ControllerRunner<Input, Output>
+  create(const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger()) {
+    return ControllerRunner<Input, Output>(TimeUtilFactory::createDefault(), ilogger);
+  }
+};
+} // namespace okapi

include/okapi/impl/control/util/pidTunerFactory.hpp

@@ -0,0 +1,47 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/control/util/pidTuner.hpp"
+#include <memory>
+
+namespace okapi {
+class PIDTunerFactory {
+  public:
+  static PIDTuner create(const std::shared_ptr<ControllerInput<double>> &iinput,
+                         const std::shared_ptr<ControllerOutput<double>> &ioutput,
+                         QTime itimeout,
+                         std::int32_t igoal,
+                         double ikPMin,
+                         double ikPMax,
+                         double ikIMin,
+                         double ikIMax,
+                         double ikDMin,
+                         double ikDMax,
+                         std::int32_t inumIterations = 5,
+                         std::int32_t inumParticles = 16,
+                         double ikSettle = 1,
+                         double ikITAE = 2,
+                         const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  static std::unique_ptr<PIDTuner>
+  createPtr(const std::shared_ptr<ControllerInput<double>> &iinput,
+            const std::shared_ptr<ControllerOutput<double>> &ioutput,
+            QTime itimeout,
+            std::int32_t igoal,
+            double ikPMin,
+            double ikPMax,
+            double ikIMin,
+            double ikIMax,
+            double ikDMin,
+            double ikDMax,
+            std::int32_t inumIterations = 5,
+            std::int32_t inumParticles = 16,
+            double ikSettle = 1,
+            double ikITAE = 2,
+            const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+};
+} // namespace okapi