Sphereized.cpp

/*
 ************************************************************************\

                              C O P Y R I G H T

   Copyright © 2024 IRMV lab, Shanghai Jiao Tong University, China.
                         All Rights Reserved.

   Licensed under the Creative Commons Attribution-NonCommercial 4.0
   International License (CC BY-NC 4.0).
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   documentation for educational, research, and other non-commercial purposes,
   provided that appropriate credit is given to the original author(s) and
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   IRMV lab, Shanghai Jiao Tong University at: https://irmv.sjtu.edu.cn/

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   BUT NOT LIMITED TO, LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE
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   The authors may be contacted at the following e-mail addresses:

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 */

#include "SphereTreeURDFGenerator.h"
#include <iostream>
#include <memory>
#include <string>
#include <vector>

int main(int argc, char *argv[]) {
    if (argc < 5) {
        std::cerr << "Usage: " << argv[0] << " -i <input_urdf_path> -o <output_urdf_path> [-r <key> <value> ...] [--single_sphere <0|1>] [--simplify <0|1>]" << std::endl;
        return 1;
    }

    std::string configPath = CONFIG_PATH;
    std::string inputPath;
    std::string outputPath;
    std::vector<std::pair<std::string, std::string>> replacements;
    bool single_sphere = false;
    bool simplify = false;

    // Parse command-line arguments
    for (int i = 1; i < argc; ++i) {
        std::string arg = argv[i];
        if (arg == "-i" && i + 1 < argc) {
            inputPath = argv[++i];
        } else if (arg == "-o" && i + 1 < argc) {
            outputPath = argv[++i];
        } else if (arg == "-r" && i + 2 < argc) {
            // Parse replacement pairs
            std::string key = argv[++i];
            std::string value = argv[++i];
            replacements.emplace_back(key, value);
        } else if (arg == "--single_sphere" && i + 1 < argc) {
            single_sphere = std::stoi(argv[++i]);
        } else if (arg == "--simplify" && i + 1 < argc) {
            simplify = std::stoi(argv[++i]);
        } else {
            std::cerr << "Unknown argument: " << arg << std::endl;
            return 1;
        }
    }

    // Check if input and output paths are provided
    if (inputPath.empty() || outputPath.empty()) {
        std::cerr << "Error: Missing input or output path." << std::endl;
        return 1;
    }

    // Create the SphereTreeURDFGenerator instance
    auto spherized_generator = std::make_shared<SphereTreeURDFGenerator>(
            configPath + "/sphereTree/sphereTreeConfig.yml", single_sphere, simplify);

    // Run the generator with the input, output, and replacement pairs
    auto ret = spherized_generator->run(inputPath, outputPath, replacements);
    std::cout << "Processing " << inputPath << " -> " << outputPath << ": " << ret.error_msg() << std::endl;

    return 0;
}