From 8e432e4ef9730f07f513bd3e21a13fe77c0196f3 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Tue, 5 Dec 2023 09:43:36 +0100
Subject: [PATCH] Percpetion constructor without sensorCount

---
 Perception.cpp | 2 +-
 Perception.h   | 9 ++++++++-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/Perception.cpp b/Perception.cpp
index 530937b..67b3a30 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -6,7 +6,7 @@ Perception::Perception() {}
 
 Perception::Perception(Placement* sensors, unsigned int sensorCount) {
   this->sensorCount = sensorCount;
-  this->sensorPlacements = sensors;
+  this->sensorPlacements = (Placement*)sensors;
 }
 
 void Perception::AddSensors(Placement* things, unsigned int thingCount) {
diff --git a/Perception.h b/Perception.h
index 4f848b3..cf5b7b8 100644
--- a/Perception.h
+++ b/Perception.h
@@ -10,9 +10,16 @@ class Perception {
  public:
   /// @brief Setup perception
   Perception();
+
+  /// @brief Template to make it possible to leave out ths sensorCount
+  /// @tparam sensorCount
+  /// @param sensors An array of sensor placements
+  template <size_t sensorCount>
+  inline Perception(Placement (&sensors)[sensorCount]) {
+    Perception(sensors, sensorCount);
+  }
   Perception(Placement* sensors, unsigned int sensorCount);
 
-  // void AddSensors(SensorPlacement* sensors, unsigned int sensorCount);
   void AddSensors(Placement* sensors, unsigned int sensorCount);
 
   unsigned int GetSensorCount();