InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv)
{
switch(type) {
case PT_IkSolver: {
if( interfacename == "ikfast" ) {
string ikfastname;
sinput >> ikfastname;
if( !!sinput ) {
// check if ikthreshold parameter exists
dReal ikthreshold=1e-4;
vector<dReal> vfreeinc;
std::string paramname;
sinput >> paramname;
if( !!sinput ) {
if( paramname == "ikthreshold" ) {
sinput >> ikthreshold;
}
else {
// most likely a free inc parameter
vfreeinc.push_back(boost::lexical_cast<dReal>(paramname));
}
}
// have to append any left over numbers
vector<dReal> vfreeinctemp((istream_iterator<dReal>(sinput)), istream_iterator<dReal>());
vfreeinc.insert(vfreeinc.end(), vfreeinctemp.begin(), vfreeinctemp.end());
// look at all the ikfast problem solvers
IkSolverBasePtr psolver = CreateIkSolverFromName(ikfastname, vfreeinc, ikthreshold, penv);
if( !!psolver ) {
return psolver;
}
}
InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv)
{
switch(type) {
case PT_IkSolver: {
if( interfacename == "ikfast" ) {
string ikfastname;
sinput >> ikfastname;
if( !!sinput ) {
vector<dReal> vfreeinc((istream_iterator<dReal>(sinput)), istream_iterator<dReal>());
// look at all the ikfast problem solvers
IkSolverBasePtr psolver = CreateIkSolverFromName(ikfastname, vfreeinc, penv);
if( !!psolver ) {
return psolver;
}
}
}
else {
vector<dReal> vfreeinc((istream_iterator<dReal>(sinput)), istream_iterator<dReal>());
if( interfacename == "wam7ikfast" ) {
return ik_barrettwam::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "pa10ikfast" ) {
return ik_pa10::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "pumaikfast" ) {
return ik_puma::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_pr2_head" ) {
return ik_pr2_head::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_pr2_head_torso" ) {
return ik_pr2_head_torso::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_pr2_rightarm" ) {
return ik_pr2_rightarm::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_pr2_rightarm_torso" ) {
return ik_pr2_rightarm_torso::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_pr2_leftarm" ) {
return ik_pr2_leftarm::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_pr2_leftarm_torso" ) {
return ik_pr2_leftarm_torso::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_schunk_lwa3" ) {
return ik_schunk_lwa3::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_katana5d" ) {
return ik_katana5d::CreateIkSolver(penv, sinput, vfreeinc);
}
else if( interfacename == "ikfast_katana5d_trans" ) {
return ik_katana5d_trans::CreateIkSolver(penv, sinput, vfreeinc);
}
}
break;
}
