In particular, the custom copy assignment operator is blocking the usage of Sockets/Inputs for all derived classes in Controller. This change is necessary to support Controllers in Moco (#3605), which will require Inputs to pass control values from the NLP solver to each controller.
Contollercurrently manages a list of actuators usingSet<Acutator>, which has several drawbacks including the need for custom connection code and a custom copy assignment operator to avoid memory leaks.In particular, the custom copy assignment operator is blocking the usage of
Sockets/Inputs for all derived classes inController. This change is necessary to supportControllers in Moco (#3605), which will requireInputs to pass control values from the NLP solver to each controller.This issue is pending the merge of PR #3652.