From 7b01f6b6a282ffc035646e87827848a87ebac253 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 29 May 2018 15:04:34 +0200
Subject: [PATCH] Add a templated version of SensorDevice::getSensorValue /
JointController::getControlTarget casting the result to the given type
---
.../components/units/RobotUnit/Devices/SensorDevice.h | 7 +++++++
.../units/RobotUnit/JointControllers/JointController.h | 7 +++++++
2 files changed, 14 insertions(+)
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h
index 5b9cb4e87..5019b2003 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h
+++ b/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.
diff --git a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
index 1fdb7fe24..4d12be87a 100644
--- a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
+++ b/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;
--
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