new methods getCapture(s)OfType

include/core/frame/frame_base.h

@@ -102,6 +102,12 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
         FrameBasePtr getNextFrame() const;
 
         const CaptureBasePtrList& getCaptureList() const;
+        template <class C>
+        CaptureBasePtr getCaptureOfType() const;
+        CaptureBasePtr getCaptureOfType(const std::string& type) const;
+        template <class C>
+        CaptureBasePtrList getCapturesOfType() const;
+        CaptureBasePtrList getCapturesOfType(const std::string& type) const;
         CaptureBasePtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr) const;
         CaptureBasePtr getCaptureOf(const SensorBasePtr _sensor_ptr, const std::string& type) const;
         CaptureBasePtrList getCapturesOf(const SensorBasePtr _sensor_ptr) const;
@@ -208,6 +214,25 @@ inline void FrameBase::setTrajectory(TrajectoryBasePtr _trj_ptr)
     trajectory_ptr_ = _trj_ptr;
 }
 
+template <class C>
+inline CaptureBasePtr FrameBase::getCaptureOfType() const
+{
+    for (CaptureBasePtr capture_ptr : getCaptureList())
+        if (std::dynamic_pointer_cast<C>(capture_ptr) != nullptr)
+            return capture_ptr;
+    return nullptr;
+}
+
+template <class C>
+inline CaptureBasePtrList FrameBase::getCapturesOfType() const
+{
+    CaptureBasePtrList captures;
+    for (CaptureBasePtr capture_ptr : getCaptureList())
+        if (std::dynamic_pointer_cast<C>(capture_ptr) != nullptr)
+            captures.push_back(capture_ptr);
+    return captures;
+}
+
 } // namespace wolf
 
 #endif

src/frame/frame_base.cpp

@@ -175,6 +175,23 @@ void FrameBase::removeCapture(CaptureBasePtr _capt_ptr)
     capture_list_.remove(_capt_ptr);
 }
 
+CaptureBasePtr FrameBase::getCaptureOfType(const std::string& type) const
+{
+    for (CaptureBasePtr capture_ptr : getCaptureList())
+        if (capture_ptr->getType() == type)
+            return capture_ptr;
+    return nullptr;
+}
+
+CaptureBasePtrList FrameBase::getCapturesOfType(const std::string& type) const
+{
+    CaptureBasePtrList captures;
+    for (CaptureBasePtr capture_ptr : getCaptureList())
+        if (capture_ptr->getType() == type)
+            captures.push_back(capture_ptr);
+    return captures;
+}
+
 CaptureBasePtr FrameBase::getCaptureOf(const SensorBasePtr _sensor_ptr, const std::string& type) const
 {
     for (CaptureBasePtr capture_ptr : getCaptureList())