1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
3 // All rights reserved.
4 //
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26 
27 #ifndef G2O_COMMAND_ARGS_H
28 #define G2O_COMMAND_ARGS_H
29 
30 #include <string>
31 #include <vector>
32 #include <iostream>
33 
34 #include "g2o_stuff_api.h"
35 
36 namespace g2o {
37 
38 /**
39  * \brief Command line parsing of argc and argv.
40  *
41  * Parse the command line to get the program options. Additionally,
42  * we can store the config in a file and reload a parameter set from
43  * this file.
44  */
45 class G2O_STUFF_API CommandArgs
46 {
47   public:
48     struct CommandArgument
49     {
50       std::string name;
51       std::string description;
52       int type;
53       void* data;
54       bool parsed;
55       bool optional;
CommandArgumentCommandArgument56       CommandArgument() : name(""), description(""), type(0), data(0), parsed(false), optional(false)
57       {}
58     };
59   public:
60     virtual ~CommandArgs();
61 
62     /**
63      * parse the command line for the requested parameters.
64      * @param argc the number of params
65      * @param argv the value array
66      * @param exitOnError call exit() if the parsing fails
67      * @return true, if parsing was correct
68      */
69     bool parseArgs(int argc, char** argv, bool exitOnError = true);
70 
71     /** add a bool parameter, if found on the command line, will toggle defValue */
72     void param(const std::string& name, bool& p, bool defValue, const std::string& desc);
73     /** add a int parameter */
74     void param(const std::string& name, int& p, int defValue, const std::string& desc);
75     /** add a float parameter */
76     void param(const std::string& name, float& p, float defValue, const std::string& desc);
77     /** add a float parameter */
78     void param(const std::string& name, double& p, double defValue, const std::string& desc);
79     /** add a string parameter */
80     void param(const std::string& name, std::string& p, const std::string& defValue, const std::string& desc);
81     /** add an int vector parameter */
82     void param(const std::string& name, std::vector<int>& p, const std::vector<int>& defValue, const std::string& desc);
83     /** add an vector of doubles as a parameter */
84     void param(const std::string& name, std::vector<double>& p, const std::vector<double>& defValue, const std::string& desc);
85     /** add a param wich is specified as a plain argument */
86     void paramLeftOver(const std::string& name, std::string& p, const std::string& defValue, const std::string& desc, bool optional = false);
87 
88     /**
89      * print the value of all params to an ostream
90      */
91     void printParams(std::ostream& os);
92 
93     //! return the banner string
getBanner()94     const std::string& getBanner() const { return _banner; }
95     void setBanner(const std::string& banner);
96 
97     /**
98      * print the help
99      */
100     void printHelp(std::ostream& os);
101 
102     /**
103      * returns true, if the param was parsed via the command line
104      */
105     bool parsedParam(const std::string& paramFlag) const;
106 
107   protected:
108     std::vector<CommandArgument> _args;
109     std::vector<CommandArgument> _leftOvers;
110     std::vector<CommandArgument> _leftOversOptional;
111     std::string _banner;
112     std::string _progName;
113 
114     const char* type2str(int t) const;
115     void str2arg(const std::string& input, CommandArgument& ca) const;
116     std::string arg2str(const CommandArgument& ca) const;
117 };
118 
119 } // end namespace
120 
121 #endif
122