collada_urdf: collada_urdf.h Source File

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00034 
00035 /* Author: Tim Field */
00036 
00037 #ifndef COLLADA_URDF_COLLADA_URDF_H
00038 #define COLLADA_URDF_COLLADA_URDF_H
00039 
00040 #include <string>
00041 
00042 #include <boost/shared_ptr.hpp>
00043 
00044 #include <dae.h>
00045 
00046 #include "urdf/model.h"
00047 
00048 namespace collada_urdf {
00049 
00050 class ColladaUrdfException : public std::runtime_error
00051 {
00052 public:
00053     ColladaUrdfException(std::string const& what);
00054 };
00055 
00061 bool colladaFromUrdfFile(std::string const& file, boost::shared_ptr<DAE>& dom);
00062 
00068 bool colladaFromUrdfString(std::string const& xml, boost::shared_ptr<DAE>& dom);
00069 
00075 bool colladaFromUrdfXml(TiXmlDocument* xml_doc, boost::shared_ptr<DAE>& dom);
00076 
00082 bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr<DAE>& dom);
00083 
00089 bool colladaToFile(boost::shared_ptr<DAE> dom, std::string const& file);
00090 
00091 }
00092 
00093 #endif