Replace custom SplitString() by absl::StrSplit() (#1026)

code simplification

cartographer_ros/cartographer_ros/assets_writer.cc

@@ -35,7 +35,6 @@
 #include "cartographer/transform/transform_interpolation_buffer.h"
 #include "cartographer_ros/msg_conversion.h"
 #include "cartographer_ros/ros_map_writing_points_processor.h"
-#include "cartographer_ros/split_string.h"
 #include "cartographer_ros/time_conversion.h"
 #include "cartographer_ros/urdf_reader.h"
 #include "gflags/gflags.h"

cartographer_ros/cartographer_ros/assets_writer_main.cc

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
+#include "absl/strings/str_split.h"
 #include "cartographer_ros/assets_writer.h"
-#include "cartographer_ros/split_string.h"
 #include "gflags/gflags.h"
 #include "glog/logging.h"
 
@@ -55,8 +55,7 @@ int main(int argc, char** argv) {
       << "-pose_graph_filename is missing.";
 
   ::cartographer_ros::AssetsWriter asset_writer(
-      FLAGS_pose_graph_filename,
+      FLAGS_pose_graph_filename, absl::StrSplit(FLAGS_bag_filenames, ','),
-      cartographer_ros::SplitString(FLAGS_bag_filenames, ','),
       FLAGS_output_file_prefix);
 
   asset_writer.Run(FLAGS_configuration_directory, FLAGS_configuration_basename,

cartographer_ros/cartographer_ros/offline_node.cc

@@ -22,9 +22,9 @@
 #include <time.h>
 #include <chrono>
 
+#include "absl/strings/str_split.h"
 #include "cartographer_ros/node.h"
 #include "cartographer_ros/playable_bag.h"
-#include "cartographer_ros/split_string.h"
 #include "cartographer_ros/urdf_reader.h"
 #include "gflags/gflags.h"
 #include "ros/callback_queue.h"
@@ -86,11 +86,11 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
       << "-configuration_basenames is missing.";
   CHECK(!(FLAGS_bag_filenames.empty() && FLAGS_load_state_filename.empty()))
       << "-bag_filenames and -load_state_filename cannot both be unspecified.";
-  const auto bag_filenames =
+  const std::vector<std::string> bag_filenames =
-      cartographer_ros::SplitString(FLAGS_bag_filenames, ',');
+      absl::StrSplit(FLAGS_bag_filenames, ',');
   cartographer_ros::NodeOptions node_options;
-  const auto configuration_basenames =
+  const std::vector<std::string> configuration_basenames =
-      cartographer_ros::SplitString(FLAGS_configuration_basenames, ',');
+      absl::StrSplit(FLAGS_configuration_basenames, ',');
   std::vector<TrajectoryOptions> bag_trajectory_options(1);
   std::tie(node_options, bag_trajectory_options.at(0)) =
       LoadOptions(FLAGS_configuration_directory, configuration_basenames.at(0));
@@ -122,8 +122,9 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
   tf2_ros::Buffer tf_buffer;
 
   std::vector<geometry_msgs::TransformStamped> urdf_transforms;
-  for (const std::string& urdf_filename :
+  const std::vector<std::string> urdf_filenames =
-       cartographer_ros::SplitString(FLAGS_urdf_filenames, ',')) {
+      absl::StrSplit(FLAGS_urdf_filenames, ',');
+  for (const auto& urdf_filename : urdf_filenames) {
     const auto current_urdf_transforms =
         ReadStaticTransformsFromUrdf(urdf_filename, &tf_buffer);
     urdf_transforms.insert(urdf_transforms.end(),

cartographer_ros/cartographer_ros/split_string.cc

@@ -1,34 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "cartographer_ros/split_string.h"
-
-#include <sstream>
-
-namespace cartographer_ros {
-
-std::vector<std::string> SplitString(const std::string& input,
-                                     const char delimiter) {
-  std::istringstream stream(input);
-  std::string token;
-  std::vector<std::string> tokens;
-  while (std::getline(stream, token, delimiter)) {
-    tokens.push_back(token);
-  }
-  return tokens;
-}
-
-}  // namespace cartographer_ros

cartographer_ros/cartographer_ros/split_string.h

@@ -1,30 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SPLIT_STRING_H
-#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SPLIT_STRING_H
-
-#include <string>
-#include <vector>
-
-namespace cartographer_ros {
-
-// Split 'input' at 'delimiter'.
-std::vector<std::string> SplitString(const std::string& input, char delimiter);
-
-}  // namespace cartographer_ros
-
-#endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SPLIT_STRING_H