sensor_base.h

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#ifndef INCLUDE_TINYURDF_COMMON_SENSOR_BASE_H_
#define INCLUDE_TINYURDF_COMMON_SENSOR_BASE_H_
 
// Copyright 2025 Wissem CHIHA
 
#include "common/object_base.h"
#include "core/pose.h"
#include <memory>
 
template<class T>
class SensorBase : public ObjectBase{
 public:
  virtual void setRange(T& r) = 0;
  virtual void getRange(T& r) = 0;
  virtual void setUpdateRate(double ur) = 0 ;
  virtual void getUpdateRate(double& ur) const = 0;
  virtual void setOrigin(std::shared_ptr<Pose> o) = 0;
  virtual void getOrigin(double* xyz) const = 0;
 protected:
  SensorBase();
  ~SensorBase(){};
  virtual void update(){};
  virtual void reset(){};
  virtual void get(T& o) const = 0; 
};
#endif // INCLUDE_TINYURDF_COMMON_SENSOR_BASE_H_