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/**
 * @brief JSBSim Actuator Plugin
 *
 * This is a class for the JSBSim actuator plugin
 *
 * @author Jaeyoung Lim <jaeyoung@auterion.com>
 * @author Roman Bapst <roman@auterion.com>
 */

#pragma once

#include "common.h"

#include <FGFDMExec.h>
#include <tinyxml.h>
#include <Eigen/Eigen>

struct ActuatorMap {
  size_t index;
  double scale;
  string property;
};

class ActuatorPlugin {
 public:
  ActuatorPlugin(JSBSim::FGFDMExec *jsbsim);
  ~ActuatorPlugin();
  bool SetActuatorCommands(const Eigen::VectorXd &actuator_commands);
  bool SetActuatorConfigs(const TiXmlHandle &config);

 private:
  bool SetCommandToProperty(float value, std::string property);
  JSBSim::FGFDMExec *_sim_ptr;
  double _last_sim_time;
  double _update_rate;
  std::vector<ActuatorMap> _actuator_configs;
};