Included UtiLite library directly in Rtabmap source (to simplify the installation)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83

utilite/include/rtabmap/utilite/UConversion.h

@@ -0,0 +1,255 @@
+/*
+*  utilite is a cross-platform library with
+*  useful utilities for fast and small developing.
+*  Copyright (C) 2010  Mathieu Labbe
+*
+*  utilite is free library: you can redistribute it and/or modify
+*  it under the terms of the GNU Lesser General Public License as published by
+*  the Free Software Foundation, either version 3 of the License, or
+*  (at your option) any later version.
+*
+*  utilite 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 Lesser General Public License for more details.
+*
+*  You should have received a copy of the GNU Lesser General Public License
+*  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef UCONVERSION_H
+#define UCONVERSION_H
+
+#include "rtabmap/utilite/UtiLiteExp.h" // DLL export/import defines
+
+#include <string>
+#include <vector>
+#include <stdarg.h>
+
+/**
+ * \file UConversion.h
+ * \brief Some conversion functions
+ *
+ * This contains functions to do some convenient conversion like
+ * uNumber2str(), uBytes2Hex() or uHex2Bytes().
+*/
+
+/**
+ * Replace old characters in a string to new ones.
+ * Example :
+ * @code
+ * std::string str = "Hello";
+ * uReplaceChar(str, 'l', 'p');
+ * // The results is str = "Heppo";
+ * @endcode
+ *
+ * @param str the string
+ * @param before the character to be replaced by the new one
+ * @param after the new character replacing the old one
+ * @return the modified string
+ */
+std::string UTILITE_EXP uReplaceChar(const std::string & str, char before, char after);
+
+
+/**
+ * Replace old characters in a string with the specified string.
+ * Example :
+ * @code
+ * std::string str = "Hello";
+ * uReplaceChar(str, 'o', "oween");
+ * // The results is str = "Helloween";
+ * @endcode
+ *
+ * @param str the string
+ * @param before the character to be replaced by the new one
+ * @param after the new string replacing the old character
+ * @return the modified string
+ */
+std::string UTILITE_EXP uReplaceChar(const std::string & str, char before, const std::string & after);
+
+
+/**
+ * Transform characters from a string to upper case.
+ * Example :
+ * @code
+ * std::string str = "hello!";
+ * str = uToUpperCase(str);
+ * //str is now equal to "HELLO!"
+ * @endcode
+ * @param str the string
+ * @return the modified string
+ */
+std::string UTILITE_EXP uToUpperCase(const std::string & str);
+
+/**
+ * Transform characters from a string to lower case.
+ * Example :
+ * @code
+ * std::string str = "HELLO!";
+ * str = uToLowerCase(str, false);
+ * //str is now equal to "hello!"
+ * @endcode
+ * @param str the string
+ * @return the modified string
+ */
+std::string UTILITE_EXP uToLowerCase(const std::string & str);
+
+/**
+ * Convert a number (unsigned int) to a string.
+ * @param number the number to convert in a string
+ * @return the string
+ */
+std::string UTILITE_EXP uNumber2Str(unsigned int number);
+/**
+ * Convert a number (int) to a string.
+ * @param number the number to convert in a string
+ * @return the string
+ */
+std::string UTILITE_EXP uNumber2Str(int number);
+/**
+ * Convert a number (float) to a string.
+ * @param number the number to convert in a string
+ * @return the string
+ */
+std::string UTILITE_EXP uNumber2Str(float number);
+/**
+ * Convert a number (double) to a string.
+ * @param number the number to convert in a string
+ * @return the string
+ */
+std::string UTILITE_EXP uNumber2Str(double number);
+
+/**
+ * Convert a bool to a string.
+ * The format used is "true" and "false".
+ * @param boolean the boolean to convert in a string
+ * @return the string
+ */
+std::string UTILITE_EXP uBool2Str(bool boolean);
+/**
+ * Convert a string to a boolean.
+ * The format used is :
+ * "false", "FALSE" or "0" give false. All others give true.
+ * @param str the string to convert in a boolean
+ * @return the boolean
+ */
+bool UTILITE_EXP uStr2Bool(const char * str);
+
+/**
+ * Convert a bytes array to an hexadecimal string.
+ * The resulting string is twice the size of the bytes array. The hexadecimal
+ * Characters are in upper case.
+ * Example :
+ * @code
+ * char bytes[] = {0x3F};
+ * std::string hex = uBytes2Hex(bytes, 1);
+ * // The string constains "3F".
+ * @endcode
+ *
+ * @param bytes the bytes array
+ * @param bytesLen the length of the bytes array
+ * @return the hexadecimal string
+ */
+std::string UTILITE_EXP uBytes2Hex(const char * bytes, unsigned int bytesLen);
+/**
+ * Convert an hexadecimal string to a bytes array.
+ * The string must be pair length. The hexadecimal
+ * Characters can be in upper or lower case.
+ * Example :
+ * @code
+ * std::string hex = "1f3B";
+ * std::vector<char> bytes = uHex2Bytes(hex);
+ * // The array contains {0x1F, 0x3B}.
+ * @endcode
+ *
+ * @param hex the hexadecimal string
+ * @return the bytes array
+ */
+std::vector<char> UTILITE_EXP uHex2Bytes(const std::string & hex);
+/**
+ * Convert an hexadecimal string to a bytes array.
+ * The string must be pair length. The hexadecimal
+ * Characters can be in upper or lower case.
+ * Example :
+ * @code
+ * std::vector<char> bytes = uHex2Bytes("1f3B", 4);
+ * // The array contains {0x1F, 0x3B}.
+ * @endcode
+ *
+ * @param hex the hexadecimal string
+ * @param bytesLen the hexadecimal string length
+ * @return the bytes array
+ */
+std::vector<char> UTILITE_EXP uHex2Bytes(const char * hex, int hexLen);
+
+/**
+ * Convert an hexadecimal string to an ascii string. A convenient way
+ * when using only strings.
+ * The hexadecimal str MUST not contains any null values 0x00 ("00").
+ * Think to use of hex2bytes() to handle 0x00 values.
+ * Characters can be in upper or lower case.
+ * Example :
+ * @code
+ * std::string str = uHex2Str("48656C6C4F21");
+ * // The string contains "Hello!".
+ * @endcode
+ *
+ * @see hex2bytes
+ * @param hex the hexadecimal string
+ * @return the ascii string
+ */
+std::string UTILITE_EXP uHex2Str(const std::string & hex);
+
+/**
+ * Convert hexadecimal (left or right part) value to an ascii character.
+ * Example :
+ * @code
+ * unsigned char F = uHex2Ascii(0xFA, false);
+ * unsigned char A = uHex2Ascii(0xFA, true);
+ * @endcode
+ * @see ascii2hex
+ * @param c the hexadecimal value
+ * @param rightPart If we want the character corresponding to the right of left part (4 bits) of the byte value.
+ * @return the ascii character (in upper case)
+ */
+unsigned char UTILITE_EXP uHex2Ascii(const unsigned char & c, bool rightPart);
+
+/**
+ * Convert an ascii character to an hexadecimal value (right 4 bits).
+ * Characters can be in upper or lower case.
+ * Example :
+ * @code
+ * unsigned char hex = uAscii2Hex('F');
+ * // The results is hex = 0x0F;
+ * @endcode
+ * @see hex2ascii
+ * @param c the ascii character
+ * @return the hexadecimal value
+ */
+unsigned char UTILITE_EXP uAscii2Hex(const unsigned char & c);
+
+/**
+ * Format a string like printf, and return it as a std::string
+ */
+std::string UTILITE_EXP uFormatv (const char *fmt, va_list ap);
+
+/**
+ * Format a string like printf, and return it as a std::string
+ */
+std::string UTILITE_EXP uFormat (const char *fmt, ...);
+
+#ifdef WIN32
+/**
+ * Convert multi-byte string to unicode (wide-char) string.
+ * Note that returned whar_t * must be deleted : delete [] wText;
+ */
+wchar_t * UTILITE_EXP createWCharFromChar(const char * text);
+
+/**
+ * Convert unicode (wide-char) string to multi-byte string.
+ * Note that returned char * must be deleted : delete [] text;
+ */
+char * UTILITE_EXP createCharFromWChar(const wchar_t * wText);
+#endif
+
+#endif /* UCONVERSION_H */