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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.12</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">* utilite is a cross-platform library with</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">* useful utilities for fast and small developing.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment">* Copyright (C) 2010 Mathieu Labbe</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">*</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">* utilite is free library: you can redistribute it and/or modify</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment">* it under the terms of the GNU Lesser General Public License as published by</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">* the Free Software Foundation, either version 3 of the License, or</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment">* (at your option) any later version.</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment">*</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment">* utilite is distributed in the hope that it will be useful,</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment">* but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment">* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment">* GNU Lesser General Public License for more details.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment">*</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">* You should have received a copy of the GNU Lesser General Public License</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">* along with this program. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">*/</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="preprocessor">#ifndef FILE_H</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="preprocessor">#define FILE_H</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span> </div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="preprocessor">#include &quot;rtabmap/utilite/utilite_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="preprocessor">#include &quot;rtabmap/utilite/UDirectory.h&quot;</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="foldopen" id="foldopen00033" data-start="{" data-end="};">
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classUFile.html"> 33</a></span><span class="keyword">class </span>UTILITE_EXPORT <a class="code hl_class" href="classUFile.html">UFile</a></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span>{</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classUFile.html#ab8719ee88436205b171674060eaa4dea"> 41</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classUFile.html#ab8719ee88436205b171674060eaa4dea">exists</a>(<span class="keyword">const</span> std::string &amp;filePath);</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classUFile.html#ae1415739da256633ad417ac7d5fc2c11"> 48</a></span> <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classUFile.html#ae1415739da256633ad417ac7d5fc2c11">length</a>(<span class="keyword">const</span> std::string &amp;filePath);</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classUFile.html#a1faba3e78bb915a685d82f0696e1ec02"> 55</a></span> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classUFile.html#a1faba3e78bb915a685d82f0696e1ec02">erase</a>(<span class="keyword">const</span> std::string &amp;filePath);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classUFile.html#a725e2edf4b5f603bfc688e96c76858d4"> 63</a></span> <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classUFile.html#a725e2edf4b5f603bfc688e96c76858d4">rename</a>(<span class="keyword">const</span> std::string &amp;oldFilePath,</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">const</span> std::string &amp;newFilePath);</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classUFile.html#a3e7905705a69b747e1ed6b6e37b19f3f"> 71</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classUFile.html#a3e7905705a69b747e1ed6b6e37b19f3f">getName</a>(<span class="keyword">const</span> std::string &amp; filePath);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classUFile.html#ac630657b2f15288df6ecddec029b42c6"> 77</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classUFile.html#ac630657b2f15288df6ecddec029b42c6">getExtension</a>(<span class="keyword">const</span> std::string &amp;filePath);</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classUFile.html#aa99e6dc81f23e17ce92bd848dfe5a2f4"> 84</a></span> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classUFile.html#aa99e6dc81f23e17ce92bd848dfe5a2f4">copy</a>(<span class="keyword">const</span> std::string &amp; from, <span class="keyword">const</span> std::string &amp; to);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classUFile.html#a19572c749b383b5fc15aca3615cdc682"> 91</a></span> <a class="code hl_function" href="classUFile.html#a19572c749b383b5fc15aca3615cdc682">UFile</a>(<span class="keyword">const</span> std::string &amp; path) : path_(path) {}</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <a class="code hl_class" href="classUFile.html">~UFile</a>() {}</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="classUFile.html#ad0ecde61a088d9fc3d034a513133341d"> 98</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classUFile.html#ad0ecde61a088d9fc3d034a513133341d">isValid</a>() {<span class="keywordflow">return</span> exists(path_);}</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classUFile.html#a4963afa70289718a3bd1ca50b6adb420"> 104</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classUFile.html#a4963afa70289718a3bd1ca50b6adb420">exists</a>() {<span class="keywordflow">return</span> <a class="code hl_function" href="classUFile.html#a4963afa70289718a3bd1ca50b6adb420">exists</a>(path_);}</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classUFile.html#a0c42f32c914b349d13103d0397c1b3c1"> 110</a></span> <span class="keywordtype">long</span> <a class="code hl_function" href="classUFile.html#a0c42f32c914b349d13103d0397c1b3c1">length</a>() {<span class="keywordflow">return</span> <a class="code hl_function" href="classUFile.html#a0c42f32c914b349d13103d0397c1b3c1">length</a>(path_);}</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="foldopen" id="foldopen00116" data-start="{" data-end="}">
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classUFile.html#a4918a111f92f2fdb7406fbd1661a1587"> 116</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classUFile.html#a4918a111f92f2fdb7406fbd1661a1587">rename</a>(<span class="keyword">const</span> std::string &amp;newName)</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> {</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> std::string ext = this-&gt;getExtension();</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> std::string newPath = <a class="code hl_function" href="classUDirectory.html#a0177e6f7286fc63c48fe2629e6ba5b34">UDirectory::getDir</a>(path_) + std::string(<span class="stringliteral">&quot;/&quot;</span>) + newName;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordflow">if</span>(ext.size())</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> {</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> newPath += std::string(<span class="stringliteral">&quot;.&quot;</span>) + getExtension(path_);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> }</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">int</span> result = rename(path_, newPath);</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordflow">if</span>(result == 0)</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> {</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> path_ = newPath;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> }</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordflow">return</span> result;</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> }</div>
</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="classUFile.html#af7e7f5995b05cda098037ca1cdcd63f4"> 135</a></span> std::string <a class="code hl_function" href="classUFile.html#af7e7f5995b05cda098037ca1cdcd63f4">getName</a>() {<span class="keywordflow">return</span> <a class="code hl_function" href="classUFile.html#af7e7f5995b05cda098037ca1cdcd63f4">getName</a>(path_);}</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="classUFile.html#aa937b9f20ef2e51091845c5108ded154"> 140</a></span> std::string <a class="code hl_function" href="classUFile.html#aa937b9f20ef2e51091845c5108ded154">getExtension</a>() {<span class="keywordflow">return</span> <a class="code hl_function" href="classUFile.html#aa937b9f20ef2e51091845c5108ded154">getExtension</a>(path_);}</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> </div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classUFile.html#aa02141310fab62290721deee433f6314"> 146</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classUFile.html#aa02141310fab62290721deee433f6314">copy</a>(<span class="keyword">const</span> std::string &amp; to) {<a class="code hl_function" href="classUFile.html#aa02141310fab62290721deee433f6314">copy</a>(path_, to);}</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> std::string path_;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span>};</div>
</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> </div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassUDirectory_html_a0177e6f7286fc63c48fe2629e6ba5b34"><div class="ttname"><a href="classUDirectory.html#a0177e6f7286fc63c48fe2629e6ba5b34">UDirectory::getDir</a></div><div class="ttdeci">static std::string getDir(const std::string &amp;filePath)</div></div>
<div class="ttc" id="aclassUFile_html"><div class="ttname"><a href="classUFile.html">UFile</a></div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00033">UFile.h:34</a></div></div>
<div class="ttc" id="aclassUFile_html_a0c42f32c914b349d13103d0397c1b3c1"><div class="ttname"><a href="classUFile.html#a0c42f32c914b349d13103d0397c1b3c1">UFile::length</a></div><div class="ttdeci">long length()</div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00110">UFile.h:110</a></div></div>
<div class="ttc" id="aclassUFile_html_a19572c749b383b5fc15aca3615cdc682"><div class="ttname"><a href="classUFile.html#a19572c749b383b5fc15aca3615cdc682">UFile::UFile</a></div><div class="ttdeci">UFile(const std::string &amp;path)</div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00091">UFile.h:91</a></div></div>
<div class="ttc" id="aclassUFile_html_a1faba3e78bb915a685d82f0696e1ec02"><div class="ttname"><a href="classUFile.html#a1faba3e78bb915a685d82f0696e1ec02">UFile::erase</a></div><div class="ttdeci">static int erase(const std::string &amp;filePath)</div></div>
<div class="ttc" id="aclassUFile_html_a3e7905705a69b747e1ed6b6e37b19f3f"><div class="ttname"><a href="classUFile.html#a3e7905705a69b747e1ed6b6e37b19f3f">UFile::getName</a></div><div class="ttdeci">static std::string getName(const std::string &amp;filePath)</div></div>
<div class="ttc" id="aclassUFile_html_a4918a111f92f2fdb7406fbd1661a1587"><div class="ttname"><a href="classUFile.html#a4918a111f92f2fdb7406fbd1661a1587">UFile::rename</a></div><div class="ttdeci">int rename(const std::string &amp;newName)</div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00116">UFile.h:116</a></div></div>
<div class="ttc" id="aclassUFile_html_a4963afa70289718a3bd1ca50b6adb420"><div class="ttname"><a href="classUFile.html#a4963afa70289718a3bd1ca50b6adb420">UFile::exists</a></div><div class="ttdeci">bool exists()</div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00104">UFile.h:104</a></div></div>
<div class="ttc" id="aclassUFile_html_a725e2edf4b5f603bfc688e96c76858d4"><div class="ttname"><a href="classUFile.html#a725e2edf4b5f603bfc688e96c76858d4">UFile::rename</a></div><div class="ttdeci">static int rename(const std::string &amp;oldFilePath, const std::string &amp;newFilePath)</div></div>
<div class="ttc" id="aclassUFile_html_aa02141310fab62290721deee433f6314"><div class="ttname"><a href="classUFile.html#aa02141310fab62290721deee433f6314">UFile::copy</a></div><div class="ttdeci">void copy(const std::string &amp;to)</div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00146">UFile.h:146</a></div></div>
<div class="ttc" id="aclassUFile_html_aa937b9f20ef2e51091845c5108ded154"><div class="ttname"><a href="classUFile.html#aa937b9f20ef2e51091845c5108ded154">UFile::getExtension</a></div><div class="ttdeci">std::string getExtension()</div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00140">UFile.h:140</a></div></div>
<div class="ttc" id="aclassUFile_html_aa99e6dc81f23e17ce92bd848dfe5a2f4"><div class="ttname"><a href="classUFile.html#aa99e6dc81f23e17ce92bd848dfe5a2f4">UFile::copy</a></div><div class="ttdeci">static void copy(const std::string &amp;from, const std::string &amp;to)</div></div>
<div class="ttc" id="aclassUFile_html_ab8719ee88436205b171674060eaa4dea"><div class="ttname"><a href="classUFile.html#ab8719ee88436205b171674060eaa4dea">UFile::exists</a></div><div class="ttdeci">static bool exists(const std::string &amp;filePath)</div></div>
<div class="ttc" id="aclassUFile_html_ac630657b2f15288df6ecddec029b42c6"><div class="ttname"><a href="classUFile.html#ac630657b2f15288df6ecddec029b42c6">UFile::getExtension</a></div><div class="ttdeci">static std::string getExtension(const std::string &amp;filePath)</div></div>
<div class="ttc" id="aclassUFile_html_ad0ecde61a088d9fc3d034a513133341d"><div class="ttname"><a href="classUFile.html#ad0ecde61a088d9fc3d034a513133341d">UFile::isValid</a></div><div class="ttdeci">bool isValid()</div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00098">UFile.h:98</a></div></div>
<div class="ttc" id="aclassUFile_html_ae1415739da256633ad417ac7d5fc2c11"><div class="ttname"><a href="classUFile.html#ae1415739da256633ad417ac7d5fc2c11">UFile::length</a></div><div class="ttdeci">static long length(const std::string &amp;filePath)</div></div>
<div class="ttc" id="aclassUFile_html_af7e7f5995b05cda098037ca1cdcd63f4"><div class="ttname"><a href="classUFile.html#af7e7f5995b05cda098037ca1cdcd63f4">UFile::getName</a></div><div class="ttdeci">std::string getName()</div><div class="ttdef"><b>Definition</b> <a href="UFile_8h_source.html#l00135">UFile.h:135</a></div></div>
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