collada_urdf: urdf_to_collada.cpp Source File

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00034 
00035 /* Author: Tim Field */
00036 
00037 #include "collada_urdf/collada_urdf.h"
00038 
00039 int main(int argc, char** argv)
00040 {
00041     if (argc != 3) {
00042         std::cerr << "Usage: urdf_to_collada input.urdf output.dae" << std::endl;
00043         return -1;
00044     }
00045 
00046         ros::init(argc, argv, "urdf_to_collada");
00047 
00048     std::string input_filename(argv[1]);
00049     std::string output_filename(argv[2]);
00050 
00051     boost::shared_ptr<DAE> dom;
00052     if (!collada_urdf::colladaFromUrdfFile(input_filename, dom)) {
00053         std::cerr << std::endl << "Error converting document" << std::endl;
00054         return -1;
00055     }
00056 
00057     collada_urdf::colladaToFile(dom, output_filename);
00058     std::cout << std::endl << "Document successfully written to " << output_filename << std::endl;
00059 
00060     return 0;
00061 }