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use SensorBase class as base class for sensors #28

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use SensorBase class as base class for sensors #28

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19 changes: 11 additions & 8 deletions urdf_parser/src/urdf_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -294,33 +294,36 @@ bool parseRay(Ray &ray, TiXmlElement* config)
}
}

boost::shared_ptr<VisualSensor> parseVisualSensor(TiXmlElement *g)
boost::shared_ptr<SensorBase> parseSensorBase(TiXmlElement *g)
{
boost::shared_ptr<VisualSensor> visual_sensor;
boost::shared_ptr<SensorBase> sensor_;

// get sensor type
TiXmlElement *sensor_xml;
if (g->FirstChildElement("camera"))
{
Camera *camera = new Camera();
visual_sensor.reset(camera);
sensor_.reset(camera);
sensor_->sensor_type = SensorBase::VISUAL;
sensor_xml = g->FirstChildElement("camera");
if (!parseCamera(*camera, sensor_xml))
visual_sensor.reset();
sensor_.reset();
}
else if (g->FirstChildElement("ray"))
{
Ray *ray = new Ray();
visual_sensor.reset(ray);
sensor_.reset(ray);
sensor_->sensor_type = SensorBase::VISUAL;
sensor_xml = g->FirstChildElement("ray");
if (!parseRay(*ray, sensor_xml))
visual_sensor.reset();
sensor_.reset();
}
else
{
logError("No know sensor types [camera|ray] defined in <sensor> block");
}
return visual_sensor;

return sensor_;
}


Expand Down Expand Up @@ -354,7 +357,7 @@ bool parseSensor(Sensor &sensor, TiXmlElement* config)
}

// parse sensor
sensor.sensor = parseVisualSensor(config);
sensor.sensor = parseSensorBase(config);
return true;
}

Expand Down