collada_to_graphviz.cpp

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// this program was modified from urdf_to_graphviz.cpp

#include "collada_parser/collada_parser.h"
#include "urdf/model.h"
#include <iostream>
#include <fstream>

using namespace urdf;
using namespace std;

#define PRINT_ORIGIN(os, origin) \
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; }

#define PRINT_ORIGIN_XML(os, origin) \
  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 << "\""; }

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

void addChildLinkNames(boost::shared_ptr<const Link> link, ofstream& os)
{
  double r, p, y;
  os << "\"" << link->name << "\" [label=\"" << link->name;
  if ( link->inertial != NULL ) {
    os << "\\n inertial xyz: "
       << link->inertial->origin.position.x << " "
       << link->inertial->origin.position.y << " "
       << link->inertial->origin.position.z << " ";
    link->inertial->origin.rotation.getRPY(r, p, y);
    os << "rpy: " << r << " " << p << " " << y << "\\n";
    os << "mass: " << link->inertial->mass << " ";
    os << "matrix: "
       << link->inertial->ixx << " "
       << link->inertial->ixy << " "
       << link->inertial->ixz << " "
       << link->inertial->iyy << " "
       << link->inertial->iyz << " "
       << link->inertial->izz << "\\n";
    //os << "\"];" << endl;
  } else {
    //os << "\"];" << endl;
  }

  if ( !!link->visual ) {
    os << "\\n";
    os << "visual: ";
    PRINT_ORIGIN ( os, link->visual->origin );
    os << "\\n";
    PRINT_GEOM ( os, link->visual->geometry );
    //os << "\\n";
  }

  if ( !!link->collision ) {
    os << "\\n";
    os << "collision: ";
    PRINT_ORIGIN ( os, link->collision->origin );
    os << "\\n";
    PRINT_GEOM ( os, link->collision->geometry );
    //os << "\\n";
  }

  os << "\"];" << endl;
  for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
    addChildLinkNames(*child, os);
}

void addChildJointNames(boost::shared_ptr<const Link> link, ofstream& os)
{
  double r, p, y;
  for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
    (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y);
    os << "\"" << link->name << "\" -> \"" << (*child)->parent_joint->name 
       << "\" [label=\"xyz: "
       << (*child)->parent_joint->parent_to_joint_origin_transform.position.x << " " 
       << (*child)->parent_joint->parent_to_joint_origin_transform.position.y << " " 
       << (*child)->parent_joint->parent_to_joint_origin_transform.position.z << " " 
       << "\\nrpy: " << r << " " << p << " " << y << "\"]" << endl;
    os << "\"" << (*child)->parent_joint->name << "\" -> \"" << (*child)->name << "\"" << endl;


    addChildJointNames(*child, os);
  }
}

void printTree(boost::shared_ptr<const Link> link, string file)
{
  std::ofstream os;
  os.open(file.c_str());
  os << "digraph G {" << endl;

  os << "node [shape=box];" << endl;
  addChildLinkNames(link, os);

  os << "node [shape=ellipse, color=blue, fontcolor=blue];" << endl;
  addChildJointNames(link, os);

  os << "}" << endl;
  os.close();
}

int main(int argc, char** argv)
{
  if (argc != 2){
    std::cerr << "Usage: urdf_to_graphiz input.xml" << std::endl;
    return -1;
  }

  // get the entire file
  std::string xml_string;
  std::fstream xml_file(argv[1], std::fstream::in);
  while ( xml_file.good() )
  {
    std::string line;
    std::getline( xml_file, line);
    xml_string += (line + "\n");
  }
  xml_file.close();

  boost::shared_ptr<ModelInterface> robot;
  if( xml_string.find("<COLLADA") != std::string::npos )
  {
    ROS_DEBUG("Parsing robot collada xml string");
    robot = parseCollada(xml_string);
  }
  else
  {
    ROS_DEBUG("Parsing robot urdf xml string");
    robot = parseURDF(xml_string);
  }

  if (!robot){
    std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
    return -1;
  }
  string output = robot->getName();

  // print entire tree to file
  printTree(robot->getRoot(), output+".gv");
  cout << "Created file " << output << ".gv" << endl;

  string command = "dot -Tpdf "+output+".gv  -o "+output+".pdf";
  system(command.c_str());
  cout << "Created file " << output << ".pdf" << endl;

  return 0;
}