feat: make conversion case insensitive

aica-technology · Oct 16, 2024 · 4a9cc3c · 4a9cc3c
1 parent ccb64d9
commit 4a9cc3c
Showing 1 changed file with 17 additions and 15 deletions.
diff --git a/source/state_representation/include/state_representation/space/cartesian/CartesianState.hpp b/source/state_representation/include/state_representation/space/cartesian/CartesianState.hpp
@@ -601,39 +601,41 @@ inline void swap(CartesianState& state1, CartesianState& state2) {
 }
 
 /**
- * @brief Convert a string to a CartesianStateVariable enum
+ * @brief Convert a string to a CartesianStateVariable enum (case insensitive)
  * @throws exceptions::InvalidStateException
  * @param variable The string to convert
  * @return A CartesianStateVariable enum corresponding to the input string
  */
 inline state_representation::CartesianStateVariable string_to_cartesian_state_variable(const std::string& variable) {
-  if (variable == "position") {
+  std::string case_insensitive_variable;
+  std::transform(variable.begin(), variable.end(), std::back_inserter(case_insensitive_variable), [](unsigned char c) { return std::tolower(c); });
+  if (case_insensitive_variable == "position") {
     return CartesianStateVariable::POSITION;
-  } else if (variable == "orientation") {
+  } else if (case_insensitive_variable == "orientation") {
     return CartesianStateVariable::ORIENTATION;
-  } else if (variable == "pose") {
+  } else if (case_insensitive_variable == "pose") {
     return CartesianStateVariable::POSE;
-  } else if (variable == "linear_velocity") {
+  } else if (case_insensitive_variable == "linear_velocity") {
     return CartesianStateVariable::LINEAR_VELOCITY;
-  } else if (variable == "angular_velocity") {
+  } else if (case_insensitive_variable == "angular_velocity") {
     return CartesianStateVariable::ANGULAR_VELOCITY;
-  } else if (variable == "twist") {
+  } else if (case_insensitive_variable == "twist") {
     return CartesianStateVariable::TWIST;
-  } else if (variable == "linear_acceleration") {
+  } else if (case_insensitive_variable == "linear_acceleration") {
     return CartesianStateVariable::LINEAR_ACCELERATION;
-  } else if (variable == "angular_acceleration") {
+  } else if (case_insensitive_variable == "angular_acceleration") {
     return CartesianStateVariable::ANGULAR_ACCELERATION;
-  } else if (variable == "acceleration") {
+  } else if (case_insensitive_variable == "acceleration") {
     return CartesianStateVariable::ACCELERATION;
-  } else if (variable == "force") {
+  } else if (case_insensitive_variable == "force") {
     return CartesianStateVariable::FORCE;
-  } else if (variable == "torque") {
+  } else if (case_insensitive_variable == "torque") {
     return CartesianStateVariable::TORQUE;
-  } else if (variable == "twist") {
+  } else if (case_insensitive_variable == "twist") {
     return CartesianStateVariable::TWIST;
-  } else if (variable == "wrench") {
+  } else if (case_insensitive_variable == "wrench") {
     return CartesianStateVariable::WRENCH;
-  } else if (variable == "all") {
+  } else if (case_insensitive_variable == "all") {
     return CartesianStateVariable::ALL;
   } else {
     throw exceptions::InvalidStateException("Invalid Cartesian state variable: " + variable);