/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#include <cstring>
#include <fstream>
#include <iostream>
#include <limits>
#include <sstream>
#include <string>

int
main (int argc, char **argv)
{
  if (argc != 3)
  {
    std::cout << "call with " << argv[0] << " input.pcd output.pcd" << std::endl;
    return 0;
  }

  if (!strcmp (argv[1], argv[2]))
  {
    std::cout << "called with same name for input and output! (done nothing)" << std::endl;
    return 1;
  }

  std::ostringstream ss;
  ss << std::numeric_limits<float>::quiet_NaN ();
  std::string nanStr (ss.str ());

  std::cout << "converting \"" << nanStr << "\" to \"nan\"" << std::endl;

  std::ifstream input (argv[1]);
  std::ofstream output (argv[2]);
  std::string str;
  char next;

  while (input >> str)
  {
    if (str == nanStr)
      output << "nan";
    else
      output << str;
    next = static_cast<char> (input.peek ());
    if (next == '\n' || next == '\r')
      output << "\n";
    else
      output << " ";
  }
  return 0;
}
