Initial commit

include/okapi/impl/control/util/controllerRunnerFactory.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/util/controllerRunner.hpp"
+#include "okapi/impl/util/timeUtilFactory.hpp"
+
+namespace okapi {
+template <typename Input, typename Output> class ControllerRunnerFactory {
+  public:
+  /**
+   * A utility class that runs a closed-loop controller.
+   *
+   * @param ilogger The logger this instance will log to.
+   * @return
+   */
+  static ControllerRunner<Input, Output>
+  create(const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger()) {
+    return ControllerRunner<Input, Output>(TimeUtilFactory::createDefault(), ilogger);
+  }
+};
+} // namespace okapi