From 38a3665335487880d8530edc86c307a16d751c2e Mon Sep 17 00:00:00 2001
From: Raphael <ufdrv@student.kit.edu>
Date: Wed, 24 May 2017 09:38:07 +0200
Subject: [PATCH] add a function to get all sensors of a robot with a given
type
---
VirtualRobot/Robot.h | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/VirtualRobot/Robot.h b/VirtualRobot/Robot.h
index 08fc8a287..f1abba9c3 100644
--- a/VirtualRobot/Robot.h
+++ b/VirtualRobot/Robot.h
@@ -370,6 +370,21 @@ namespace VirtualRobot
*/
virtual std::vector<SensorPtr> getSensors();
+ template<class SensorType>
+ std::vector<boost::shared_ptr<SensorType>> getSensors()
+ {
+ std::vector<boost::shared_ptr<SensorType>> result;
+ std::vector<SensorPtr> sensors = getSensors();
+ result.reserve(sensors.size());
+ for(SensorPtr& sensor:sensors)
+ {
+ if(dynamic_cast<SensorType*>(sensor.get()))
+ {
+ result.emplace_back(boost::static_pointer_cast<SensorType>(sensor));
+ }
+ }
+ return result;
+ }
/*!
Creates an XML string that defines the complete robot. Filenames of all visualization models are set to modelPath/RobotNodeName_visu and/or modelPath/RobotNodeName_colmodel.
@see RobotIO::saveXML.
--
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