include sensors into the model

ubi-agni · Mar 8, 2016 · f9995d3 · f9995d3
1 parent dd546d9
commit f9995d3
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Showing 2 changed files with 15 additions and 1 deletion.
diff --git a/urdf_model/include/urdf_model/model.h b/urdf_model/include/urdf_model/model.h
@@ -109,6 +109,18 @@ class ModelInterface
       ptr = this->materials_.find(name)->second;
     return ptr;
   };
+
+  /// non-const getSensor()
+  SensorSharedPtr getSensor(const std::string& name) const
+  {
+    SensorSharedPtr ptr;
+    if (this->sensors_.find(name) == this->sensors_.end())
+      ptr.reset();
+    else
+      ptr = this->sensors_.find(name)->second;
+    return ptr;
+  };
+
 
   void initTree(std::map<std::string, std::string> &parent_link_tree)
   {
@@ -197,7 +209,8 @@ class ModelInterface
   /// \brief The root is always a link (the parent of the tree describing the robot)
   LinkSharedPtr root_link_;
 
-
+  /// \brief complete list of Sensors
+  std::map<std::string, SensorSharedPtr> sensors_;
 
 };
 

diff --git a/urdf_model/include/urdf_model/types.h b/urdf_model/include/urdf_model/types.h
@@ -65,6 +65,7 @@ URDF_TYPEDEF_CLASS_POINTER(JointMimic);
 URDF_TYPEDEF_CLASS_POINTER(JointSafety);
 URDF_TYPEDEF_CLASS_POINTER(Link);
 URDF_TYPEDEF_CLASS_POINTER(Material);
+URDF_TYPEDEF_CLASS_POINTER(Sensor);
 URDF_TYPEDEF_CLASS_POINTER(Mesh);
 URDF_TYPEDEF_CLASS_POINTER(Sphere);
 URDF_TYPEDEF_CLASS_POINTER(Visual);