urdf_to_collada.cpp

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/* Author: Tim Field */
 
#include "collada_urdf/collada_urdf.h"
 
int main(int argc, char** argv)
{
    if (argc != 3) {
        std::cerr << "Usage: urdf_to_collada input.urdf output.dae" << std::endl;
        return -1;
    }
 
    std::string input_filename(argv[1]);
    std::string output_filename(argv[2]);
 
    urdf::Model robot_model;
    if (!robot_model.initFile(input_filename)) {
        std::cerr << "failed to open urdf file " << input_filename << std::endl;
        return -2;
    }
 
    collada_urdf::WriteUrdfModelToColladaFile(robot_model, output_filename);
    std::cout << std::endl << "Document successfully written to " << output_filename << std::endl;
 
    return 0;
}