sensor_base.h

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#ifndef TINYURDF_SENSOR_BASE_H_
#define TINYURDF_SENSOR_BASE_H_
 
// Copyright 2025 Wissem CHIHA
 
#include "object_base.h"
#include "pose.h"
 
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() override;
    virtual void update(){};
    virtual void reset(){};
    virtual void get(T& o) const = 0; 
    virtual const char* getTypename() const = 0;
};
#endif // TINYURDF_SENSOR_BASE_H_