ogrid.cpp

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#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include "parsecl.hpp"
#include "properties.hpp"
#include "occupancy_grid.hpp"

using namespace Arak;

int main(int argc, char** argv) {
  using namespace Arak::Util;
  // Parse the command line.
  CommandLine cl;
  CommandLine::MultiParameter<std::string>
    propFiles("-p", "--prop-file", "specifies a property file");
  cl.add(propFiles);
  CommandLine::MultiParameter<std::string>
    propDefs("-D", "--define-prop", "defines a property value");
  cl.add(propDefs);

  if (!cl.parse(argc, argv, std::cerr)) {
    cl.printUsage(std::cerr);
    exit(1);
  }

  // Parse the properties files.
  Arak::Util::PropertyMap properties;
  const std::vector<std::string>& propFilePaths = propFiles.values();
  for (std::vector<std::string>::const_iterator it = propFilePaths.begin();
       it != propFilePaths.end(); it++) {
    std::string path = *it;
    std::ifstream in(path.data());
    in >> properties;
  }
  // Parse the overriding property definitions.
  const std::vector<std::string>& propDefinitions = propDefs.values();
  for (std::vector<std::string>::const_iterator it = propDefinitions.begin();
       it != propDefinitions.end(); it++) {
    std::string def = *it;
    std::istringstream in(def);
    in >> properties;
  }

  std::cerr << "Properties:" << std::endl << properties << std::endl;

  // Build the occupancy grid.
  OccupancyGrid grid(properties);

  // Write the result to standard out.
  grid.write(std::cout);
  
}

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