Draft: Resolve "Implementation of new nodes creation"

Closes #454, #318, #364, #449, #381, #376, #208, #485

include/core/sensor/sensor_base.h

@@ -116,6 +116,7 @@ class SensorBase : public NodeStateBlocks
     friend ProcessorBase;
 
   private:
+    bool                 enabled_;  ///< Sensor enabled
     HardwareBaseWPtr     hardware_ptr_;
     ProcessorBasePtrList processor_list_;
     static unsigned int  sensor_id_count_;      ///< Object counter (acts as simple ID factory)
@@ -199,6 +200,13 @@ class SensorBase : public NodeStateBlocks
     StateBlockPtr      getIntrinsic();
 
   public:
+
+    // enable/disable the sensor
+    bool isEnabled() const;
+    void enable();
+    void disable();
+
+    // Set the state block as fixed or unfixed
     void fixExtrinsics();
     void unfixExtrinsics();
     void fixIntrinsics();
@@ -346,4 +354,19 @@ inline void SensorBase::setHardware(const HardwareBasePtr _hw_ptr)
     hardware_ptr_ = _hw_ptr;
 }
 
+inline bool SensorBase::isEnabled() const
+{
+    return enabled_;
+}
+
+inline void SensorBase::enable()
+{
+    enabled_ = true;
+}
+
+inline void SensorBase::disable()
+{
+    enabled_ = false;
+}
+
 }  // namespace wolf