mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
82cddd1ed1
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1021 f169173b-cf89-36c8-b27e-44dbe73f0c83
254 lines
7.5 KiB
C++
254 lines
7.5 KiB
C++
/*
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* utilite is a cross-platform library with
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* useful utilities for fast and small developing.
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* Copyright (C) 2010 Mathieu Labbe
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*
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* utilite is free library: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* utilite is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef UCONVERSION_H
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#define UCONVERSION_H
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#include "rtabmap/utilite/UtiLiteExp.h" // DLL export/import defines
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#include <string>
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#include <vector>
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#include <stdarg.h>
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/**
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* \file UConversion.h
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* \brief Some conversion functions
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*
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* This contains functions to do some convenient conversion like
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* uNumber2str(), uBytes2Hex() or uHex2Bytes().
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*/
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/**
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* Replace old characters in a string to new ones.
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* Example :
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* @code
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* std::string str = "Hello";
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* uReplaceChar(str, 'l', 'p');
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* // The results is str = "Heppo";
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* @endcode
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*
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* @param str the string
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* @param before the character to be replaced by the new one
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* @param after the new character replacing the old one
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* @return the modified string
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*/
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std::string UTILITE_EXP uReplaceChar(const std::string & str, char before, char after);
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/**
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* Replace old characters in a string with the specified string.
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* Example :
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* @code
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* std::string str = "Hello";
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* uReplaceChar(str, 'o', "oween");
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* // The results is str = "Helloween";
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* @endcode
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*
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* @param str the string
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* @param before the character to be replaced by the new one
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* @param after the new string replacing the old character
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* @return the modified string
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*/
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std::string UTILITE_EXP uReplaceChar(const std::string & str, char before, const std::string & after);
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/**
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* Transform characters from a string to upper case.
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* Example :
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* @code
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* std::string str = "hello!";
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* str = uToUpperCase(str);
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* //str is now equal to "HELLO!"
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* @endcode
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* @param str the string
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* @return the modified string
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*/
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std::string UTILITE_EXP uToUpperCase(const std::string & str);
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/**
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* Transform characters from a string to lower case.
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* Example :
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* @code
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* std::string str = "HELLO!";
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* str = uToLowerCase(str, false);
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* //str is now equal to "hello!"
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* @endcode
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* @param str the string
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* @return the modified string
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*/
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std::string UTILITE_EXP uToLowerCase(const std::string & str);
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/**
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* Convert a number (unsigned int) to a string.
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* @param number the number to convert in a string
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* @return the string
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*/
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std::string UTILITE_EXP uNumber2Str(unsigned int number);
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/**
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* Convert a number (int) to a string.
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* @param number the number to convert in a string
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* @return the string
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*/
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std::string UTILITE_EXP uNumber2Str(int number);
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/**
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* Convert a number (float) to a string.
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* @param number the number to convert in a string
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* @return the string
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*/
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std::string UTILITE_EXP uNumber2Str(float number);
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/**
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* Convert a number (double) to a string.
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* @param number the number to convert in a string
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* @return the string
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*/
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std::string UTILITE_EXP uNumber2Str(double number);
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/**
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* Convert a bool to a string.
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* The format used is "true" and "false".
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* @param boolean the boolean to convert in a string
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* @return the string
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*/
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std::string UTILITE_EXP uBool2Str(bool boolean);
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/**
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* Convert a string to a boolean.
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* The format used is :
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* "false", "FALSE" or "0" give false. All others give true.
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* @param str the string to convert in a boolean
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* @return the boolean
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*/
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bool UTILITE_EXP uStr2Bool(const char * str);
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/**
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* Convert a bytes array to an hexadecimal string.
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* The resulting string is twice the size of the bytes array. The hexadecimal
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* Characters are in upper case.
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* Example :
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* @code
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* char bytes[] = {0x3F};
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* std::string hex = uBytes2Hex(bytes, 1);
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* // The string constains "3F".
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* @endcode
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*
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* @param bytes the bytes array
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* @param bytesLen the length of the bytes array
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* @return the hexadecimal string
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*/
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std::string UTILITE_EXP uBytes2Hex(const char * bytes, unsigned int bytesLen);
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/**
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* Convert an hexadecimal string to a bytes array.
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* The string must be pair length. The hexadecimal
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* Characters can be in upper or lower case.
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* Example :
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* @code
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* std::string hex = "1f3B";
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* std::vector<char> bytes = uHex2Bytes(hex);
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* // The array contains {0x1F, 0x3B}.
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* @endcode
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*
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* @param hex the hexadecimal string
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* @return the bytes array
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*/
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std::vector<char> UTILITE_EXP uHex2Bytes(const std::string & hex);
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/**
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* Convert an hexadecimal string to a bytes array.
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* The string must be pair length. The hexadecimal
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* Characters can be in upper or lower case.
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* Example :
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* @code
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* std::vector<char> bytes = uHex2Bytes("1f3B", 4);
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* // The array contains {0x1F, 0x3B}.
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* @endcode
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*
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* @param hex the hexadecimal string
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* @param bytesLen the hexadecimal string length
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* @return the bytes array
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*/
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std::vector<char> UTILITE_EXP uHex2Bytes(const char * hex, int hexLen);
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/**
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* Convert an hexadecimal string to an ascii string. A convenient way
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* when using only strings.
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* The hexadecimal str MUST not contains any null values 0x00 ("00").
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* Think to use of hex2bytes() to handle 0x00 values.
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* Characters can be in upper or lower case.
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* Example :
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* @code
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* std::string str = uHex2Str("48656C6C4F21");
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* // The string contains "Hello!".
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* @endcode
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*
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* @see hex2bytes
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* @param hex the hexadecimal string
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* @return the ascii string
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*/
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std::string UTILITE_EXP uHex2Str(const std::string & hex);
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/**
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* Convert hexadecimal (left or right part) value to an ascii character.
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* Example :
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* @code
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* unsigned char F = uHex2Ascii(0xFA, false);
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* unsigned char A = uHex2Ascii(0xFA, true);
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* @endcode
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* @see ascii2hex
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* @param c the hexadecimal value
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* @param rightPart If we want the character corresponding to the right of left part (4 bits) of the byte value.
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* @return the ascii character (in upper case)
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*/
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unsigned char UTILITE_EXP uHex2Ascii(const unsigned char & c, bool rightPart);
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/**
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* Convert an ascii character to an hexadecimal value (right 4 bits).
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* Characters can be in upper or lower case.
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* Example :
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* @code
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* unsigned char hex = uAscii2Hex('F');
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* // The results is hex = 0x0F;
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* @endcode
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* @see hex2ascii
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* @param c the ascii character
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* @return the hexadecimal value
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*/
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unsigned char UTILITE_EXP uAscii2Hex(const unsigned char & c);
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/**
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* Format a string like printf, and return it as a std::string
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*/
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std::string UTILITE_EXP uFormatv (const char *fmt, va_list ap);
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/**
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* Format a string like printf, and return it as a std::string
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*/
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std::string UTILITE_EXP uFormat (const char *fmt, ...);
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#ifdef WIN32
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/**
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* Convert multi-byte string to unicode (wide-char) string.
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* Note that returned whar_t * must be deleted : delete [] wText;
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*/
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UTILITE_EXP wchar_t * createWCharFromChar(const char * text);
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/**
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* Convert unicode (wide-char) string to multi-byte string.
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* Note that returned char * must be deleted : delete [] text;
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*/
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UTILITE_EXP char * createCharFromWChar(const wchar_t * wText);
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#endif
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#endif /* UCONVERSION_H */
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