collada_to_urdf.cpp File Reference

#include <iostream>
#include <fstream>
#include <string>
#include <vector>
#include <ros/console.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 <boost/program_options.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/filesystem/operations.hpp>
#include <Eigen/Geometry>

Include dependency graph for collada_to_urdf.cpp:

Go to the source code of this file.

Macros
#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

Macro Definition 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 38 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 67 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 56 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 61 of file collada_to_urdf.cpp.

Function Documentation

void addChildJointNamesXML	(	urdf::LinkConstSharedPtr	link,
		ofstream &	os
	)

error

Definition at line 409 of file collada_to_urdf.cpp.

void addChildLinkNamesXML	(	urdf::LinkConstSharedPtr	link,
		ofstream &	os
	)

Definition at line 191 of file collada_to_urdf.cpp.

void assimp_calc_bbox	(	string	fname,
		float &	minx,
		float &	miny,
		float &	minz,
		float &	maxx,
		float &	maxy,
		float &	maxz
	)

Definition at line 110 of file collada_to_urdf.cpp.

void assimp_file_export	(	std::string	fname,
		std::string	ofname,
		std::string	mesh_type = "collada"
	)

Definition at line 70 of file collada_to_urdf.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 520 of file collada_to_urdf.cpp.

void printTreeXML	(	urdf::LinkConstSharedPtr	link,
		string	name,
		string	file
	)

Definition at line 501 of file collada_to_urdf.cpp.

Variable Documentation

bool add_gazebo_description = false

Definition at line 45 of file collada_to_urdf.cpp.

string arobot_name = ""

Definition at line 52 of file collada_to_urdf.cpp.

bool export_collision_mesh = false

Definition at line 49 of file collada_to_urdf.cpp.

string mesh_dir = "/tmp"

Definition at line 51 of file collada_to_urdf.cpp.

string mesh_prefix = ""

Definition at line 54 of file collada_to_urdf.cpp.

string output_file = ""

Definition at line 53 of file collada_to_urdf.cpp.

bool rotate_inertia_frame = true

Definition at line 48 of file collada_to_urdf.cpp.

bool use_assimp_export = false

Definition at line 46 of file collada_to_urdf.cpp.

bool use_same_collision_as_visual = true

Definition at line 47 of file collada_to_urdf.cpp.

bool use_simple_collision = false

Definition at line 44 of file collada_to_urdf.cpp.

bool use_simple_visual = false

Definition at line 43 of file collada_to_urdf.cpp.