Add SensorDeviceTemplate (it automatically adds a member value and implements getSensorValue)

source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h

@@ -57,6 +57,18 @@ namespace armarx
 
         virtual void rtReadSensorValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
     };
+
+    template<class SensorValueType>
+    class SensorDeviceTemplate : public virtual SensorDevice
+    {
+        static_assert(std::is_base_of<SensorValueBase, SensorValueType>::value, "SensorValueType has to inherit SensorValueBase");
+    public:
+        using SensorDevice::SensorDevice;
+
+        virtual const SensorValueType* getSensorValue() const final;
+
+        SensorValueType sensorValue;
+    };
 }
 
 //inline functions
@@ -73,6 +85,12 @@ namespace armarx
     }
 
     inline void SensorDevice::rtReadSensorValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) {}
+
+    template<class SensorValueType>
+    inline const SensorValueType* SensorDeviceTemplate<SensorValueType>::getSensorValue() const
+    {
+        return &sensorValue;
+    }
 }
 
 #endif