moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/Parameters.cpp

@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "rtabmap/core/Parameters.h"
+#include <utilite/UDirectory.h>
+#include <utilite/ULogger.h>
+
+namespace rtabmap
+{
+
+Parameters * Parameters::instance_ = 0;
+UDestroyer<Parameters> Parameters::destroyer_;
+ParametersMap Parameters::parameters_;
+
+Parameters::Parameters()
+{
+}
+
+Parameters::~Parameters()
+{
+}
+
+const ParametersMap & Parameters::getDefaultParameters()
+{
+	return Parameters::getInstance()->getParameters();
+}
+
+Parameters * Parameters::getInstance()
+{
+	if(!instance_)
+	{
+		instance_ = new Parameters();
+		destroyer_.setDoomed(instance_);
+	}
+	return instance_;
+}
+
+const ParametersMap & Parameters::getParameters() const
+{
+	return parameters_;
+}
+
+void Parameters::addParameter(const std::string & key, const std::string & value)
+{
+	parameters_.insert(ParametersPair(key, value));
+}
+
+std::string Parameters::getDefaultWorkingDirectory()
+{
+	std::string path = UDirectory::homeDir();
+	if(!path.empty())
+	{
+		UDirectory::makeDir(path += "/Documents");
+		UDirectory::makeDir(path += "/RTAB-Map");
+		path += "/"; // add trailing separator
+	}
+	else
+	{
+		UFATAL("Can't get the HOME variable environment!");
+	}
+	return path;
+}
+
+}