X-lanni
106 lines
3.4 KiB
C++
106 lines
3.4 KiB
C++
/*
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* Copyright (c) 2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* author: Dave Hershberger
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*/
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#include <cstdio> // for EOF
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#include <string>
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#include <sstream>
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#include <vector>
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namespace nav2_costmap_2d
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{
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/** @brief Parse a vector of vector of floats from a string.
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* @param input
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* @param error_return
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* Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...] */
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std::vector<std::vector<float>> parseVVF(const std::string & input, std::string & error_return)
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{
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std::vector<std::vector<float>> result;
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std::stringstream input_ss(input);
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int depth = 0;
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std::vector<float> current_vector;
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while (!!input_ss && !input_ss.eof()) {
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switch (input_ss.peek()) {
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case EOF:
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break;
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case '[':
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depth++;
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if (depth > 2) {
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error_return = "Array depth greater than 2";
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return result;
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}
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input_ss.get();
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current_vector.clear();
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break;
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case ']':
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depth--;
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if (depth < 0) {
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error_return = "More close ] than open [";
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return result;
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}
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input_ss.get();
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if (depth == 1) {
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result.push_back(current_vector);
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}
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break;
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case ',':
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case ' ':
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case '\t':
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input_ss.get();
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break;
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default: // All other characters should be part of the numbers.
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if (depth != 2) {
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std::stringstream err_ss;
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err_ss << "Numbers at depth other than 2. Char was '" << char(input_ss.peek()) << "'.";
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error_return = err_ss.str();
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return result;
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}
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float value;
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input_ss >> value;
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if (!!input_ss) {
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current_vector.push_back(value);
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}
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break;
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}
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}
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if (depth != 0) {
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error_return = "Unterminated vector string.";
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} else {
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error_return = "";
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}
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return result;
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}
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} // end namespace nav2_costmap_2d
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