added convenience function

source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h

@@ -35,7 +35,21 @@ namespace armarx
     {
     public:
         size_t load(const MultiNodeRapidXMLReader &rootNodeConfigs, const VirtualRobot::RobotPtr& robot);
+        template <typename Type>
+        std::vector<std::shared_ptr<Type>> getDevicesOfType() const
+        {
+            std::vector<std::shared_ptr<Type>> results;
+            for (auto& dev : devices)
+            {
+                auto castedDev = std::dynamic_pointer_cast<Type>(dev);
+                if(castedDev)
+                {
+                    results.push_back(castedDev);
+                }
 
+            }
+            return results;
+        }
         std::vector<AbstractFunctionalDevicePtr> getAllInitializedFunctionalDevices() const;
         std::vector<AbstractFunctionalDevicePtr> getAllUninitializedFunctionalDevices() const;
         virtual std::vector<AbstractFunctionalDevicePtr> getAllFunctionalDevices() const = 0;