collada_urdf: collada_urdf.cpp Source File

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00034 
00035 /* Author: Tim Field */
00036 
00037 #include "collada_urdf/collada_urdf.h"
00038 #include "collada_urdf/collada_writer.h"
00039 
00040 using std::string;
00041 using boost::shared_ptr;
00042 
00043 namespace collada_urdf {
00044 
00045 ColladaUrdfException::ColladaUrdfException(std::string const& what)
00046     : std::runtime_error(what)
00047 {
00048 }
00049 
00050 bool colladaFromUrdfFile(string const& file, shared_ptr<DAE>& dom) {
00051     TiXmlDocument urdf_xml;
00052     if (!urdf_xml.LoadFile(file)) {
00053         ROS_ERROR("Could not load XML file");
00054         return false;
00055     }
00056 
00057     return colladaFromUrdfXml(&urdf_xml, dom);
00058 }
00059 
00060 bool colladaFromUrdfString(string const& xml, shared_ptr<DAE>& dom) {
00061     TiXmlDocument urdf_xml;
00062     if (urdf_xml.Parse(xml.c_str()) == 0) {
00063         ROS_ERROR("Could not parse XML document");
00064         return false;
00065     }
00066 
00067     return colladaFromUrdfXml(&urdf_xml, dom);
00068 }
00069 
00070 bool colladaFromUrdfXml(TiXmlDocument* xml_doc, shared_ptr<DAE>& dom) {
00071     urdf::Model robot_model;
00072     if (!robot_model.initXml(xml_doc)) {
00073         ROS_ERROR("Could not generate robot model");
00074         return false;
00075     }
00076 
00077     return colladaFromUrdfModel(robot_model, dom);
00078 }
00079 
00080 bool colladaFromUrdfModel(urdf::Model const& robot_model, shared_ptr<DAE>& dom) {
00081     ColladaWriter writer(robot_model);
00082     dom = writer.convert();
00083 
00084     return dom != shared_ptr<DAE>();
00085 }
00086 
00087 bool colladaToFile(shared_ptr<DAE> dom, string const& file) {
00088         daeString uri = dom->getDoc(0)->getDocumentURI()->getURI();
00089         return dom->writeTo(uri, file);
00090 }
00091 
00092 }