From 8f05890c6605eb7752034f71ffbdbe7aeb0417f6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 3 Nov 2021 16:09:50 +0100
Subject: [PATCH] new methods getCapture(s)OfType
---
include/core/frame/frame_base.h | 25 +++++++++++++++++++++++++
src/frame/frame_base.cpp | 17 +++++++++++++++++
2 files changed, 42 insertions(+)
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 848fa3f12..7234284a5 100644
--- a/include/core/frame/frame_base.h
+++ b/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
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 95233cf96..71e344552 100644
--- a/src/frame/frame_base.cpp
+++ b/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())
--
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