parser.h

一个很全的matlab工具包

// $Id: parser.h,v 1.10 2004/03/03 16:01:09 kgadeyne Exp $
// Copyright (C) 2003 Klaas Gadeyne <klaas dot gadeyne at mech dot kuleuven dot ac dot be>
//  
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//  
// This program 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 General Public License for more details.
//  
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//  

#ifndef __PARSER__
#define __PARSER__

extern "C"
{

#undef __USE_EXTERN_INLINES // If not, results in a parse error in
			    // argp.h
#include <argp.h>
#include <stdlib.h>

#define MAX_NUM_ARGS 9
  
  const char *argp_program_version = "test_bootstrapfilter version double o seven";
  const char *argp_program_bug_address = "<klaas dot gadeyne at mech dot kuleuven dot ac dot be>";

  /** Structure used by main() to communicate with parse_opt 
      (Command Line (CL) Arguments parsing. */
  struct arguments
  {
    char *args[MAX_NUM_ARGS];  /* args */
    /// Verbose or not?
    int verbose; /* The -v flag */
    /// Number of Samples
    unsigned int num_samples;
    /// Number of time steps
    unsigned int num_time_steps; 
    /// Resample period
    unsigned int resample_period;
    /// Port number used to send (only if compiled with #ifdef _SOCKET_?)
    unsigned int port;
    /// Wall coordinate 1: Wall = rico_wall * x + offset wall
    double rico_wall;
    /// Wall coordinate 2 : Wall = rico_wall * x + offset wall
    double offset_wall; 
    /// Linear speed of the robot
    double linear_speed;
    /// Rotational speed of the robot
    double rot_speed;
    /// Name of file??
    char *name;
  };

  /*
    OPTIONS.  Field 1 in ARGP.
    Order of fields: 
    {
    NAME of the long option, 
    KEY (= short option), 
    ARG (name of the options argument), 
    FLAGS (flags describing the option, eg. OPTION_HIDDEN: Don't show the current option in --help output., 
    DOC (documentation)
    }.
  */
  static struct argp_option options[MAX_NUM_ARGS+1+1] =
    {
      {"verbose", 'v', 0, 0, "Produce verbose output"},
      {"num_samples", 's', "NUM_SAMPLES", 0,"Set num_samples to NUM_SAMPLES"},
      {"num_time_steps", 't', "NUM_TIME_STEPS", 0,"Set num_time_steps to NUM_TIME_STEPS"},
      {"resample_period", 'r', "RESAMPLE_PERIOD", 0,"Set the resample period to RESAMPLE_PERIOD"},
      {"linear_speed", 'l', "LINEAR_SPEED", 0, "Set linear_speed to LINEAR_SPEED"},
      {"rot_speed", 'b', "ROT_SPEED", 0, "Set rot_speed to ROT_SPEED"},
      {"port", 'p', "PORT", 0,"Set connection port to PORT"},
      {"rico_wall", 'c', "RICO_WALL", 0,"Set rico of wall to RICO_WALL"},
      {"offset_wall", 'o', "OFFSET_WALL", 0,"Set offset of wall to OFFSET_WALL"},
      {"name", 'n', "NAME", 0, "Set name of the experiment to NAME"},
      {0} // This should always be the last option
    };


  /*
    ARGS_DOC. Field 3 in ARGP.
    A description of the non-option command-line arguments
    that we accept.
  */
  static char args_doc[] = "";

  /*
    DOC.  Field 4 in ARGP.
    Program documentation.
  */
  static char doc[] = "Test Bootstrap Filter -- A program to estimate the location of a Mobile Robot by means of a laser scanner and a particle filter";

  /*
    PARSER. Field 2 in ARGP. Order of parameters: KEY, ARG, STATE.
  */
  static error_t
  parse_opt (int key, char *arg, struct argp_state *state)
  {
    struct arguments *arguments = (struct arguments *)state->input;
    switch (key)
      {
      case 'v':
	arguments->verbose = 1;
      break;
      case 's':
	arguments->num_samples = strtoul(arg,NULL,0);
	break;
      case 't':
	arguments->num_time_steps = strtoul(arg,NULL,0);
	break;
      case 'r':
	arguments->resample_period = strtoul(arg,NULL,0);
	break;
      case 'l':
	arguments->linear_speed = strtod(arg,NULL);
	break;
      case 'b':
	arguments->rot_speed = strtod(arg,NULL);
	break;
      case 'p':
	arguments->port = strtoul(arg,NULL,0);
	break;
      case 'c':
	arguments->rico_wall = strtod(arg,NULL);
	break;
      case 'o':
	arguments->offset_wall = strtod(arg,NULL);
	break;
      case 'n':
	arguments->name = arg;
	break;
      case ARGP_KEY_ARG: // Current CL argument is not an option
	if (state->arg_num >= MAX_NUM_ARGS) argp_usage(state);
	arguments->args[state->arg_num] = arg;
	break;
      case ARGP_KEY_END: // All CLs have been parsed
	// if (state->arg_num < MAX_NUM_ARGS)argp_usage (state);
	break;
      default:
	return ARGP_ERR_UNKNOWN;
      }
    return 0;
  }

  /*
    The ARGP structure itself.
  */
  static struct argp argp = {options, parse_opt, args_doc, doc};

} // End extern "C"

#endif // __PARSER__