We coslept, so ... a little different.
As I weaned kids from the Big Bed to their own bed, I used a transition phase of having a mattress on the floor next to the big bed--so I could essentially roll out of bed (carefully ;) ) without ever fully waking up, and when the baby fell asleep and if I woke up again (eg., when the baby kicked me), I would kinda lump back up into the big bed (again without ever really waking up). This was more like at 12 or 18 months, though--up until then I just slept with them in the crook of my arm, and then I only had to wake up enough to hook them on or (in the case of one firm latch kid ;) ) hook them off. Sleep interruptions--but not intense enough to really wake me up, unless I had some buzzing insomniac stress going on unrelated to the kiddo.
The other thing to consider is to do your research about SIDS and if you feel safe doing it (I did), sleep her on her tummy. They sleep harder and better on their tummy; it's how their bodies are designed to rest. You have to *not* have a chemically-flame-proofed mattress (or a non-permeable cover that blocks those chemicals), for this to be a safe option, from what I've read. The medically official top two risk factors: #1 by far, anyone smoking anywhere near the baby ... #2, being a boy (boys apparently are less sturdy when babies??). Anyhow, sleeping on the tummy means when they startle, their arms meet resistance, which signals "I am on Mommy" and they don't panic and wake up ... unless they are hungry or wet.
Oh, and that: I am a cloth-diaperer, but disposables (and now some of the fleece cloth options) remove the "wake up!!" trigger of a wet-feeling diaper. Dunno what you use, but something to consider ...
Good luck finding sleep soon :).