add SensorBase class as base class for sensors (ros#3)

ubi-agni · Sep 7, 2018 · 635f582 · 635f582
1 parent e7e0972
commit 635f582
Show file tree

Hide file tree

Showing 3 changed files with 13 additions and 7 deletions.
diff --git a/urdf_model/include/urdf_model/model.h b/urdf_model/include/urdf_model/model.h
@@ -198,7 +198,6 @@ class ModelInterface
   LinkSharedPtr root_link_;
 
 
-
 };
 
 }

diff --git a/urdf_sensor/include/urdf_sensor/sensor.h b/urdf_sensor/include/urdf_sensor/sensor.h
@@ -72,10 +72,18 @@
 
 namespace urdf{
 
-class VisualSensor
+class SensorBase {
+public:
+  enum {VISUAL, FORCE, TACTILE, IMU, GYRO, ACCELERATION, GPS} sensor_type;
+  virtual ~SensorBase(void)
+  {
+  }
+};
+
+class VisualSensor : public SensorBase
 {
 public:
-  enum {CAMERA, RAY} type;
+  enum {CAMERA, RAY, DEPTH} type;
   virtual ~VisualSensor(void)
   {
   }
@@ -148,8 +156,7 @@ class Sensor
   Pose origin;
 
   /// sensor
-  VisualSensorSharedPtr sensor;
-
+  SensorBaseSharedPtr sensor;
 
   /// Parent link element name.  A pointer is stored in parent_link_.
   std::string parent_link_name;

diff --git a/urdf_sensor/include/urdf_sensor/types.h b/urdf_sensor/include/urdf_sensor/types.h
@@ -42,10 +42,10 @@
 
 namespace urdf{
 
-class VisualSensor;
+class SensorBase;
 
 // typedef shared pointers
-typedef std::shared_ptr<VisualSensor> VisualSensorSharedPtr;
+typedef std::shared_ptr<SensorBase> SensorBaseSharedPtr;
 
 }
Original file line number	Diff line number	Diff line change
Expand Up		@@ -198,7 +198,6 @@ class ModelInterface
		LinkSharedPtr root_link_;



		};

		}
Expand Down