InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv)
{
if( type == PT_InverseKinematicsSolver && interfacename == "generalik" ) {
return InterfaceBasePtr(new GeneralIK(penv));
}
return InterfaceBasePtr();
}
InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv)
{
switch(type) {
case PT_Viewer:
#if defined(HAVE_X11_XLIB_H) && defined(Q_WS_X11)
// always check viewers since DISPLAY could change
if ( XOpenDisplay( NULL ) == NULL ) {
RAVELOG_WARN("no display detected, so cannot load viewer");
return InterfaceBasePtr();
}
#endif
if( interfacename == "qtcoin" ) {
// have to lock after initialized since call relies on SoDBP::globalmutex
boost::mutex::scoped_lock lock(g_mutexsoqt);
EnsureSoQtInit();
//SoDBWriteLock dblock;
return InterfaceBasePtr(new QtCoinViewer(penv, sinput));
}
else if( interfacename == "qtcameraviewer" ) {
return InterfaceBasePtr(new QtCameraViewer(penv,sinput));
}
break;
case PT_Module:
if( interfacename == "ivmodelloader" ) {
return CreateIvModelLoader(penv);
}
break;
default:
break;
}
return InterfaceBasePtr();
}
InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv)
{
if( !s_listRegisteredReaders ) {
s_listRegisteredReaders = new list< boost::shared_ptr<void> >();
//s_listRegisteredReaders.push_back(ROSMocapSystem::RegisterXMLReader(penv));
}
switch(type) {
case PT_Controller:
if( interfacename == "rosactionlib")
return InterfaceBasePtr(new ROSActionLibController(penv,sinput));
break;
default:
break;
}
return InterfaceBasePtr();
}
InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv)
{
switch(type) {
case PT_Planner:
if( interfacename == "rastar" || interfacename == "ra*" ) {
return CreateRandomizedAStarPlanner(penv,sinput);
}
else if( interfacename == "birrt") {
return InterfaceBasePtr(new BirrtPlanner(penv));
}
else if( interfacename == "rbirrt") {
RAVELOG_WARN("rBiRRT is deprecated, use BiRRT\n");
return InterfaceBasePtr(new BirrtPlanner(penv));
}
else if( interfacename == "basicrrt") {
return InterfaceBasePtr(new BasicRrtPlanner(penv));
}
else if( interfacename == "explorationrrt" ) {
return InterfaceBasePtr(new ExplorationPlanner(penv));
}
else if( interfacename == "graspgradient" ) {
return CreateGraspGradientPlanner(penv,sinput);
}
else if( interfacename == "shortcut_linear" ) {
return CreateShortcutLinearPlanner(penv,sinput);
}
else if( interfacename == "lineartrajectoryretimer" ) {
return CreateLinearTrajectoryRetimer(penv,sinput);
}
else if( interfacename == "workspacetrajectorytracker" ) {
return CreateWorkspaceTrajectoryTracker(penv,sinput);
}
else if( interfacename == "parabolicsmoother" ) {
return CreateParabolicSmoother(penv,sinput);
}
break;
default:
break;
}
return InterfaceBasePtr();
}
InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv)
{
if( !s_listRegisteredReaders ) {
s_listRegisteredReaders = new list< OpenRAVE::UserDataPtr >();
s_listRegisteredReaders->push_back(RaveRegisterXMLReader(OpenRAVE::PT_PhysicsEngine,"bulletproperties",BulletPhysicsEngine::CreateXMLReader));
}
switch(type) {
case OpenRAVE::PT_CollisionChecker:
if( interfacename == "bullet") {
return CreateBulletCollisionChecker(penv,sinput);
}
break;
case OpenRAVE::PT_PhysicsEngine:
if( interfacename == "bullet") {
return CreateBulletPhysicsEngine(penv,sinput);
}
break;
default:
break;
}
return InterfaceBasePtr();
}
