#include <ros/ros.h>
#include <urdf/model.h>
#include <collada_parser/collada_parser.h>
#include <urdf_parser/urdf_parser.h>
#include <assimp.hpp>
#include <aiScene.h>
#include <aiPostProcess.h>
#include <iostream>
#include <fstream>
#include <boost/program_options.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/filesystem/operations.hpp>
#include <tf/LinearMath/Transform.h>
#include <tf/LinearMath/Quaternion.h>

Include dependency graph for collada_to_urdf.cpp:

Defines
#define	DEBUG_MAT(mat)
#define	GAZEBO_1_3
#define	PRINT_GEOM(os, geometry) if ( geometry->type == urdf::Geometry::MESH ) { os << "geom: name: " << ((urdf::Mesh *)geometry.get())->filename; }
#define	PRINT_ORIGIN(os, origin)
#define	PRINT_ORIGIN_XML(os, origin)
Functions
void	addChildJointNamesXML (urdf::LinkConstSharedPtr link, ofstream &os)
void	addChildLinkNamesXML (urdf::LinkConstSharedPtr link, ofstream &os)
void	assimp_calc_bbox (string fname, float &minx, float &miny, float &minz, float &maxx, float &maxy, float &maxz)
void	assimp_file_export (std::string fname, std::string ofname, std::string mesh_type="collada")
int	main (int argc, char **argv)
void	printTreeXML (urdf::LinkConstSharedPtr link, string name, string file)
Variables
bool	add_gazebo_description = false
string	arobot_name = ""
bool	export_collision_mesh = false
string	mesh_dir = "/tmp"
string	mesh_prefix = ""
string	output_file = ""
bool	rotate_inertia_frame = true
bool	use_assimp_export = false
bool	use_same_collision_as_visual = true
bool	use_simple_collision = false
bool	use_simple_visual = false

Define Documentation

#define DEBUG_MAT ( mat )

Value:

cout << "#2f((" << mat[0][0] << " " << mat[0][1] << " " << mat[0][2] << ")"; \
      cout << "(" << mat[1][0] << " " << mat[1][1] << " " << mat[1][2] << ")"; \
      cout << "(" << mat[2][0] << " " << mat[2][1] << " " << mat[2][2] << "))" << endl;

#define GAZEBO_1_3

Definition at line 36 of file collada_to_urdf.cpp.

#define PRINT_GEOM	(	os,
		geometry
	)	if ( geometry->type == urdf::Geometry::MESH ) { os << "geom: name: " << ((urdf::Mesh *)geometry.get())->filename; }

Definition at line 65 of file collada_to_urdf.cpp.

#define PRINT_ORIGIN	(	os,
		origin
	)

Value:

os << "xyz: " << origin.position.x << " " << origin.position.y << " " << origin.position.z << " "; \
{ double r,p,y; origin.rotation.getRPY(r, p, y); \
  os << "rpy: " << r << " " << p << " " << y; }

Definition at line 54 of file collada_to_urdf.cpp.

#define PRINT_ORIGIN_XML	(	os,
		origin
	)

Value:

os << "xyz=\"" << origin.position.x << " " << origin.position.y << " " << origin.position.z << "\""; \
  { double h___r, h___p, h___y; \
     origin.rotation.getRPY(h___r, h___p, h___y); \
  os << " rpy=\"" << h___r << " " << h___p << " " << h___y << "\""; }

Definition at line 59 of file collada_to_urdf.cpp.