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add SensorBase class as base class for sensors #3

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add SensorBase class as base class for sensors #3

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3 changes: 2 additions & 1 deletion urdf_model/include/urdf_model/model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@
#include <boost/function.hpp>
#include <urdf_model/link.h>
#include <urdf_exception/exception.h>
#include <urdf_sensor/sensor.h>

namespace urdf {

Expand Down Expand Up @@ -197,7 +198,7 @@ class ModelInterface
/// \brief The root is always a link (the parent of the tree describing the robot)
boost::shared_ptr<Link> root_link_;


std::map<std::string, boost::shared_ptr<Sensor> > sensors_;

};

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15 changes: 11 additions & 4 deletions urdf_sensor/include/urdf_sensor/sensor.h
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Expand Up @@ -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)
{
}
Expand Down Expand Up @@ -148,8 +156,7 @@ class Sensor
Pose origin;

/// sensor
boost::shared_ptr<VisualSensor> sensor;

boost::shared_ptr<SensorBase> sensor;

/// Parent link element name. A pointer is stored in parent_link_.
std::string parent_link_name;
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