collada_urdf.h

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/* Authors: Tim Field */

#ifndef COLLADA_URDF_COLLADA_URDF_H
#define COLLADA_URDF_COLLADA_URDF_H

#include <string>
#include <boost/shared_ptr.hpp>
#include <dae.h>
#include "urdf/model.h"

namespace collada_urdf {

class ColladaUrdfException : public std::runtime_error
{
public:
    ColladaUrdfException(std::string const& what);
};

bool colladaFromUrdfFile(std::string const& file, boost::shared_ptr<DAE>& dom);

bool colladaFromUrdfString(std::string const& xml, boost::shared_ptr<DAE>& dom);

bool colladaFromUrdfXml(TiXmlDocument* xml_doc, boost::shared_ptr<DAE>& dom);

bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr<DAE>& dom);

bool colladaToFile(boost::shared_ptr<DAE> dom, std::string const& file);

}

#endif