collada_writer.h

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/* Author: Tim Field */

#ifndef COLLADA_URDF_COLLADA_WRITER_H
#define COLLADA_URDF_COLLADA_WRITER_H

#include "collada_urdf/collada_urdf.h"

#include <map>

#include <dae.h>
#include <dae/daeDocument.h>
#include <dae/daeErrorHandler.h>
#include <dae/domAny.h>
#include <dom/domCOLLADA.h>
#include <dom/domConstants.h>
#include <dom/domElements.h>
#include <dom/domTriangles.h>
#include <dom/domTypes.h>
#include <resource_retriever/retriever.h>
#include <urdf/model.h>
#include <urdf/pose.h>
#include <angles/angles.h>

namespace collada_urdf {

class Mesh;

class ColladaWriter : public daeErrorHandler
{
private:
    struct SCENE
    {
        domVisual_sceneRef              vscene;
        domKinematics_sceneRef          kscene;
        domPhysics_sceneRef             pscene;
        domInstance_with_extraRef       viscene;
        domInstance_kinematics_sceneRef kiscene;
        domInstance_with_extraRef       piscene;
    };

public:
    ColladaWriter(urdf::Model const& robot);
    virtual ~ColladaWriter();

    boost::shared_ptr<DAE> convert();

protected:
    virtual void handleError(daeString msg);
    virtual void handleWarning(daeString msg);

private:
    void  initDocument(std::string const& documentName);
    SCENE createScene();

    void setupPhysics(SCENE const& scene);

    void addGeometries();
    void loadMesh(std::string const& filename, domGeometryRef geometry, std::string const& geometry_id);
    bool loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, std::string const& geometry_id);
    void buildMeshFromSTLLoader(boost::shared_ptr<Mesh> stl_mesh, daeElementRef parent, std::string const& geometry_id);

    void addKinematics(SCENE const& scene);
    void addJoints(daeElementRef parent);
    void addKinematicLink(boost::shared_ptr<urdf::Link const> urdf_link, daeElementRef parent, int& link_num);

    void         addVisuals(SCENE const& scene);
    void         addVisualLink(boost::shared_ptr<urdf::Link const> urdf_link, daeElementRef parent, int& link_num);

    void         addMaterials();
    domEffectRef addEffect(std::string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse);

    void addBindings(SCENE const& scene);

    domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position, daeElementRef before = NULL, bool ignore_zero_translations = false);
    domRotateRef    addRotate(daeElementRef parent, urdf::Rotation const& r, daeElementRef before = NULL, bool ignore_zero_rotations = false);
    void addMimicJoint(domFormulaRef formula, const std::string& joint_sid,const std::string& joint_mimic_sid, double multiplier, double offset);
    std::string getTimeStampString() const;

private:
    static int s_doc_count_;

    urdf::Model                     robot_;
    boost::shared_ptr<DAE>          collada_;
    domCOLLADA*                     dom_;
    domCOLLADA::domSceneRef         scene_;

    domLibrary_geometriesRef        geometriesLib_;
    domLibrary_visual_scenesRef     visualScenesLib_;
    domLibrary_kinematics_scenesRef kinematicsScenesLib_;
    domLibrary_kinematics_modelsRef kinematicsModelsLib_;
    domLibrary_jointsRef            jointsLib_;
    domLibrary_physics_scenesRef    physicsScenesLib_;
    domLibrary_materialsRef         materialsLib_;
    domLibrary_effectsRef           effectsLib_;

    domKinematics_modelRef kmodel_;

    std::map<std::string, std::string> geometry_ids_;   
    std::map<std::string, std::string> joint_sids_;     
    std::map<std::string, std::string> node_ids_;       
};

}

#endif

---

collada_urdf
Author(s): Tim Field
autogenerated on Fri Jan 11 09:14:46 2013