filteredControllerInput.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/control/controllerInput.hpp"
#include "okapi/api/filter/filter.hpp"
#include <memory>
 
namespace okapi {
template <typename InputType, typename FilterType>
class FilteredControllerInput : public ControllerInput<double> {
  public:
  FilteredControllerInput(std::unique_ptr<ControllerInput<InputType>> iinput,
                          std::unique_ptr<FilterType> ifilter)
    : input(std::move(iinput)), filter(std::move(ifilter)) {
  }
 
  double controllerGet() override {
    return filter->filter(input->controllerGet());
  }
 
  protected:
  std::unique_ptr<ControllerInput<InputType>> input;
  std::unique_ptr<FilterType> filter;
};
} // namespace okapi