new sensor for motion models

CMakeLists.txt

@@ -265,6 +265,7 @@ SET(HDRS_SENSOR
   include/core/sensor/sensor_base.h
   include/core/sensor/sensor_diff_drive.h
   include/core/sensor/factory_sensor.h
+  include/core/sensor/sensor_model.h
   include/core/sensor/sensor_odom_2d.h
   include/core/sensor/sensor_odom_3d.h
   include/core/sensor/sensor_pose.h
@@ -362,6 +363,7 @@ SET(SRCS_PROCESSOR
 SET(SRCS_SENSOR
   src/sensor/sensor_base.cpp
   src/sensor/sensor_diff_drive.cpp
+  src/sensor/sensor_model.cpp
   src/sensor/sensor_odom_2d.cpp
   src/sensor/sensor_odom_3d.cpp
   src/sensor/sensor_pose.cpp

include/core/sensor/sensor_model.h

+#ifndef SRC_SENSOR_MODEL_H_
+#define SRC_SENSOR_MODEL_H_
+
+//wolf includes
+#include "core/sensor/sensor_base.h"
+
+namespace wolf {
+
+WOLF_PTR_TYPEDEFS(SensorModel);
+
+class SensorModel : public SensorBase
+{
+    public:
+        SensorModel();
+        ~SensorModel() override;
+
+        static SensorBasePtr create(const std::string& _unique_name,
+                                    const ParamsServer& _server)
+        {
+            auto sensor = std::make_shared<SensorModel>();
+            sensor      ->setName(_unique_name);
+            return sensor;
+        }
+
+        static SensorBasePtr create(const std::string& _unique_name,
+                                    const Eigen::VectorXd& _extrinsics,
+                                    const ParamsSensorBasePtr _intrinsics)
+        {
+            auto sensor = std::make_shared<SensorModel>();
+            sensor      ->setName(_unique_name);
+            return sensor;
+        }
+};
+
+
+} /* namespace wolf */
+
+#endif /* SRC_SENSOR_POSE_H_ */

src/sensor/sensor_model.cpp

+#include "core/sensor/sensor_model.h"
+
+namespace wolf {
+
+
+SensorModel::SensorModel() :
+    SensorBase("SensorModel", nullptr, nullptr, nullptr, 6)
+{
+    //
+}
+
+SensorModel::~SensorModel()
+{
+    //
+}
+
+} // namespace wolf
+
+// Register in the FactorySensor
+#include "core/sensor/factory_sensor.h"
+namespace wolf {
+WOLF_REGISTER_SENSOR(SensorModel);
+WOLF_REGISTER_SENSOR_AUTO(SensorModel);
+}