Real-Time Robotics Framework

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====== Basic Block ======

Blockio is the basic block from which all other blocks inherit. See [[eeros_architecture:control_system:custom_blocks|]] to learn how to use this basic blocks for your custom made blocks. \\
However, you can use this block directly and set its specific algorithm that will run whenever the block runs within a timedomain. Use the template parameters to choose any number of input and output signals together with their associated types. The algorithm can be passed to the constructor of the block with a lambda function.
 
Define such a block with an example algorithm as follows:
<code cpp>
  Blockio<1,1,Vector2,Vector2> block([&]() {
    auto val = (block.getIn().getSignal().getValue() + 0.5) * 2;
    block.getOut().getSignal().setValue(val);
    block.getOut().getSignal().setTimestamp(gen.getIn(0).getSignal().getTimestamp());
  });
</code>

Such an algorithm could theoretically calculate any output from a given set of inputs. Choose this method when the algorithm is simple and one wants to avoid using several other blocks doing a simple algorithm, e.g. adding a offset and scale to a signal as given in the example above. 

How could this be solved with predefined block from [[eeros_architecture:control_system:available_blocks|]]?
Use a constant block delivering the offset together with a sum block which adds the offset to the signal. Finally, a gain block applies the desired scale. All in all, you will use three different blocks.

Using a basic block with a lambda function as given in the example above saves valuable execution time in reducing the number of necessary blocks. It can also be useful when a given algorithm cannot be stitched together from predefined blocks.