include/barrett/systems/io_conversion.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>
*/

/*
 * io_conversion.h
 *
 *  Created on: Oct 30, 2009
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_IO_CONVERSION_H_
#define BARRETT_SYSTEMS_IO_CONVERSION_H_


#include <barrett/systems/abstract/conversion.h>
#include <barrett/systems/abstract/system.h>


namespace barrett {
namespace systems {


template<typename InputType, typename OutputType>
class IOConversion : public Conversion<OutputType> {
public:
        IOConversion(System::Input<InputType>& conversionInput,  //NOLINT: non-const reference
                        System::Output<OutputType>& conversionOutput) :
                input(conversionInput), output(conversionOutput) {}
        virtual ~IOConversion() {}

        virtual System::Input<InputType>* getConversionInput() {
                return &input;
        }
        virtual System::Output<OutputType>& getConversionOutput() {
                return output;
        }

protected:
        System::Input<InputType>& input;
        System::Output<OutputType>& output;

private:
        DISALLOW_COPY_AND_ASSIGN(IOConversion);
};


template<typename InputType, typename OutputType>
IOConversion<InputType, OutputType>* makeIOConversion(
                System::Input<InputType>& input, System::Output<OutputType>& output)
{
        return new IOConversion<InputType, OutputType>(input, output);
}


}
}


#endif /* BARRETT_SYSTEMS_IO_CONVERSION_H_ */