Gain.hpp

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#ifndef ORG_EEROS_CONTROL_GAIN_HPP_
#define ORG_EEROS_CONTROL_GAIN_HPP_

#include <eeros/control/Block1i1o.hpp>

namespace eeros {
    namespace control {

        template <typename Tout = double, typename Tgain = double, bool elementWise = false>
        class Gain : public Block1i1o<Tout> {
            
        public:
            Gain() : enabled(true) {
                gain = 1;
            }
            
            Gain(Tgain c) : enabled(true) {
                gain = c;
            }
            
            virtual void run() {
                if(enabled) {
                    this->out.getSignal().setValue(gain * this->in.getSignal().getValue());
                }
                else {
                    this->out.getSignal().setValue(this->in.getSignal().getValue());
                }
                this->out.getSignal().setTimestamp(this->in.getSignal().getTimestamp());
            }
            
            virtual void enable() {
                enabled = true;
            }
            
            virtual void disable() {
                enabled = false;
            }
            
            virtual void setGain(Tgain c) {
                gain = c;
            }
            
        protected:
            Tgain gain;
            bool enabled;
        };
        
        template <typename Tout, typename Tgain>
        class Gain<Tout, Tgain, true> : public Block1i1o<Tout> {
        
        public:
            Gain() : enabled(true) {
                gain = 1;
            }
            
            Gain(Tgain c) : enabled(true) {
                gain = c;
            }
            
            virtual void run() {
                if(enabled) {
                    this->out.getSignal().setValue(this->in.getSignal().getValue().multiplyElementWise(gain));
                }
                else {
                    this->out.getSignal().setValue(this->in.getSignal().getValue());
                }
                this->out.getSignal().setTimestamp(this->in.getSignal().getTimestamp());
            }
            
            virtual void enable() {
                enabled = true;
            }
            
            virtual void disable() {
                enabled = false;
            }
            
            virtual void setGain(Tgain c) {
                gain = c;
            }
            
        protected:
            Tgain gain;
            bool enabled;
        };
    };
};

#endif /* ORG_EEROS_CONTROL_GAIN_HPP_ */