Add a templated version of SensorDevice::getSensorValue /...

Add a templated version of SensorDevice::getSensorValue / JointController::getControlTarget casting the result to the given type

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

@@ -65,6 +65,13 @@ namespace armarx
         /// @return The SensorDevice's sensor value
         virtual const SensorValueBase* getSensorValue() const = 0;
 
+        /// @return The SensorDevice's sensor value casted to the given type (may be nullptr)
+        template<class T>
+        const T* getSensorValue() const
+        {
+            return getSensorValue()->asA<const T*>();
+        }
+
         /**
          * @brief Returns the \ref SensorValueBase "SensorValue's" type as a string.
          * @param withoutNamespaceSpecifier Whether namespace specifiers should be removed from the name.

source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h

@@ -46,6 +46,13 @@ namespace armarx
 
         virtual const ControlTargetBase* getControlTarget() const;
 
+        /// @return The \ref JointController's \ref ControlTargetBase "ControlTarget" casted to the given type (may be nullptr)
+        template<class T>
+        const T* getControlTarget() const
+        {
+            return getControlTarget()->asA<const T*>();
+        }
+
         virtual void rtResetTarget();
 
         virtual bool rtIsTargetVaild() const;