Mul.hpp

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#ifndef ORG_EEROS_CONTROL_MUL_HPP_
#define ORG_EEROS_CONTROL_MUL_HPP_

#include <eeros/control/Block1o.hpp>
#include <eeros/control/Input.hpp>

namespace eeros {
    namespace control {

        template < typename In1T = double, typename In2T = double, typename OutT = double >
        class Mul : public Block1o<OutT> {

        public:
            Mul() : in1(this), in2(this) { }

            virtual void run() {
                OutT prod;
                prod = in1.getSignal().getValue() * in2.getSignal().getValue();
                this->out.getSignal().setValue(prod);
                this->out.getSignal().setTimestamp(in1.getSignal().getTimestamp());
            }
            
            virtual Input<In1T>& getIn1() {
                return in1;
            }

            virtual Input<In2T>& getIn2() {
                return in2;
            }

        protected:
            Input<In1T> in1;
            Input<In2T> in2;
        };
        
        /********** Print functions **********/
        template <typename In1T = double, typename In2T = double, typename OutT = double>
        std::ostream& operator<<(std::ostream& os, Mul<In1T,In2T,OutT>& mul) {
            os << "Block multiplier: '" << mul.getName() << "'"; 
        }

    };
};

#endif /* ORG_EEROS_CONTROL_MUL_HPP_ */