Merge branch 'main' into wide_angle_camera

Author: scpeters

src/systems/air_pressure/AirPressure.cc

@@ -123,9 +123,7 @@ void AirPressure::PostUpdate(const UpdateInfo &_info,
     for (auto &it : this->dataPtr->entitySensorMap)
     {
       // Update measurement time
-      auto time = math::durationToSecNsec(_info.simTime);
-      dynamic_cast<sensors::Sensor *>(it.second.get())->Update(
-          math::secNsecToDuration(time.first, time.second), false);
+      it.second->Update(_info.simTime, false);
     }
   }
 

src/systems/altimeter/Altimeter.cc

@@ -124,9 +124,7 @@ void Altimeter::PostUpdate(const UpdateInfo &_info,
     for (auto &it : this->dataPtr->entitySensorMap)
     {
       // Update measurement time
-      auto time = math::durationToSecNsec(_info.simTime);
-      dynamic_cast<sensors::Sensor *>(it.second.get())->Update(
-          math::secNsecToDuration(time.first, time.second), false);
+      it.second->Update(_info.simTime, false);
     }
   }
 

src/systems/force_torque/ForceTorque.cc

@@ -136,7 +136,7 @@ void ForceTorque::PostUpdate(const UpdateInfo &_info,
 
     for (auto &it : this->dataPtr->entitySensorMap)
     {
-      it.second.get()->sensors::Sensor::Update(_info.simTime, false);
+      it.second->Update(_info.simTime, false);
     }
   }
 

src/systems/imu/Imu.cc

@@ -127,9 +127,7 @@ void Imu::PostUpdate(const UpdateInfo &_info,
     for (auto &it : this->dataPtr->entitySensorMap)
     {
       // Update measurement time
-      auto time = math::durationToSecNsec(_info.simTime);
-      dynamic_cast<sensors::Sensor *>(it.second.get())->Update(
-          math::secNsecToDuration(time.first, time.second), false);
+      it.second->Update(_info.simTime, false);
     }
   }
 

src/systems/logical_camera/LogicalCamera.cc

@@ -126,9 +126,7 @@ void LogicalCamera::PostUpdate(const UpdateInfo &_info,
     for (auto &it : this->dataPtr->entitySensorMap)
     {
       // Update sensor
-      auto time = math::durationToSecNsec(_info.simTime);
-      dynamic_cast<sensors::Sensor *>(it.second.get())->Update(
-          math::secNsecToDuration(time.first, time.second), false);
+      it.second->Update(_info.simTime, false);
     }
   }
 

src/systems/magnetometer/Magnetometer.cc

@@ -125,9 +125,7 @@ void Magnetometer::PostUpdate(const UpdateInfo &_info,
     for (auto &it : this->dataPtr->entitySensorMap)
     {
       // Update measurement time
-      auto time = math::durationToSecNsec(_info.simTime);
-      dynamic_cast<sensors::Sensor *>(it.second.get())->Update(
-          math::secNsecToDuration(time.first, time.second), false);
+      it.second->Update(_info.simTime, false);
     }
   }