From fcb3584c6b98ca8bf1601b43e37b8dd1c318dc70 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 5 Oct 2018 16:53:09 +0200
Subject: [PATCH] added convenience function
---
.../libraries/ArmarXEtherCAT/DeviceContainer.h | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h
index d6146946e..dad5a4d22 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h
+++ b/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;
--
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