From 7202164910e6bde4d59b6bd1af8b33cd627114bc Mon Sep 17 00:00:00 2001
From: YoheiKakiuchi <youhei@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 15 Feb 2014 12:52:56 +0900
Subject: [PATCH] add SensorBase class as base class for sensors (#3)

---
 urdf_model/include/urdf_model/model.h    |  1 -
 urdf_sensor/include/urdf_sensor/sensor.h | 15 +++++++++++----
 urdf_sensor/include/urdf_sensor/types.h  |  4 ++--
 3 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/urdf_model/include/urdf_model/model.h b/urdf_model/include/urdf_model/model.h
index 8b7ced8..a59f42f 100644
--- 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
index 60126aa..dc25c06 100644
--- 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
index 62de9e4..df00f79 100644
--- 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 boost::shared_ptr<VisualSensor> VisualSensorSharedPtr;
+typedef boost::shared_ptr<SensorBase> SensorBaseSharedPtr;
 
 }