DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database.

utilite/src/UConversion.cpp

@@ -150,6 +150,29 @@ bool uStr2Bool(const char * str)
 	return !(str && (strcmp(str, "false") == 0 || strcmp(str, "FALSE") == 0 || strcmp(str, "0") == 0));
 }
 
+std::vector<unsigned char> uStr2Bytes(const std::string & str)
+{
+	std::vector<unsigned char> bytes(str.size()+1);
+	memcpy(bytes.data(), str.data(), str.size());
+	bytes[bytes.size()-1] = '\0'; // null character
+	return bytes;
+}
+
+std::string uBytes2Str(const std::vector<unsigned char> & bytes)
+{
+	if(bytes.size())
+	{
+		if(bytes[bytes.size()-1] != '\0')
+		{
+			std::vector<unsigned char> tmp = bytes;
+			tmp.push_back('\0');
+			return std::string((const char *)tmp.data());
+		}
+		return std::string((const char *)bytes.data());
+	}
+	return std::string();
+}
+
 std::string uBytes2Hex(const char * bytes, unsigned int bytesLen)
 {
 	std::string hex;