/*!
 * \file ControlLaw.h
 * \brief Base class for control law
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/04/30
 * \version 4.0
 */

#ifndef CONTROLLAW_H
#define CONTROLLAW_H

#include <IODevice.h>

namespace flair {
    namespace gui {
        class LayoutPosition;
    }
    namespace core {
        class cvmatrix;
    }
}

namespace flair { namespace filter {
    /*! \class ControlLaw
    *
    * \brief Base class for control law
    * input must be created by reimplemented class.\n
    * output is created by this class, it is of size (nb_out,1) and type float.\n
    * see constructor for nb_out
    */
    class ControlLaw : public core::IODevice {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a ControlLaw
            *
            * \param parent parent
            * \param name name
            * \param nb_out number of output
            */
            ControlLaw(const core::Object* parent,std::string name,uint32_t nb_out=1);

            /*!
            * \brief Destructor
            *
            */
            ~ControlLaw();

            /*!
            * \brief Output value
            *
            * \param index output index, between 0 and nb_out-1
            *
            * \return output value
            */
            float Output(uint32_t index=0) const;

            /*!
            * \brief Use default plot
            *
            * Plot the output value at given position. \n
            * Only Output(1,1) is plotted. \n
            * In case of a mutliple output ControlLaw, this function should be reimplemented. \n
            * After calling this function, position will be deleted as it is no longer usefull. \n
            *
            * \param position position to display plot
            */
            virtual void UseDefaultPlot(const gui::LayoutPosition* position);

            /*!
            * \brief Update using provided datas
            *
            * Reimplemented class must fill input matrix before calling this.
            *
            * \param time time of the update
            */
            void Update(core::Time time);

            /*!
            * \brief Reset the internal state of the control law
            *
            * Doesn't do anything by default
            *
            */
            virtual void Reset() {};

        protected:
            /*!
            * \brief input matrix
            *
            * This matrix must be created by the reimplemented class.
            *
            */
            core::cvmatrix *input;

            /*!
            * \brief output matrix
            *
            * This matrix is created by this class. Its size is (nb_out,1) and its type
            * is io_data::Float.
            *
            */
            core::cvmatrix *output;

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            virtual void UpdateFrom(const core::io_data *data)=0;
    };
} // end namespace filter
} // end namespace flair
#endif // CONTROLLAW_H