include/barrett/systems/array_splitter.h

/*
        Copyright 2009, 2010 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett is distributed in the hope that it will be
        useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * array_splitter.h
 *
 *  Created on: Nov 17, 2009
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_ARRAY_SPLITTER_H_
#define BARRETT_SYSTEMS_ARRAY_SPLITTER_H_


#include <boost/array.hpp>

#include <barrett/detail/ca_macro.h>
#include <barrett/systems/abstract/system.h>
#include <barrett/systems/abstract/single_io.h>


namespace barrett {
namespace systems {

// TODO(dc): test!

template <typename T>
class ArraySplitter : public System, public SingleInput<T> {
// IO
// protected because of variable number of outputs
protected:      boost::array<Output<double>*, T::SIZE> outputs;
protected:      boost::array<Output<double>::Value*, T::SIZE> outputValues;


public:
        ArraySplitter(const std::string& sysName = "ArraySplitter");
        virtual ~ArraySplitter();

        Output<double>& getOutput(const size_t i);

protected:
        virtual void operate();

private:
        DISALLOW_COPY_AND_ASSIGN(ArraySplitter);
};


}
}


// include template definitions
#include <barrett/systems/detail/array_splitter-inl.h>


#endif /* BARRETT_SYSTEMS_ARRAY_SPLITTER_H_ */