Defines | Functions | Variables
collada_to_urdf.cpp File Reference
#include "collada_parser/collada_parser.h"
#include "urdf/model.h"
#include <assimp3/IOSystem.hpp>
#include <assimp3/IOStream.hpp>
#include <assimp3/Importer.hpp>
#include <assimp3/Exporter.hpp>
#include <assimp3/postprocess.h>
#include <assimp3/scene.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:

Go to the source code of this file.

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 (boost::shared_ptr< const Link > link, ofstream &os)
void addChildLinkNamesXML (boost::shared_ptr< const Link > 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 (boost::shared_ptr< const Link > link, string name, string file)

Variables

bool add_gazebo_description = false
string arobot_name = ""
bool export_collision_mesh = true
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 35 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 64 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 53 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 58 of file collada_to_urdf.cpp.


Function Documentation

void addChildJointNamesXML ( boost::shared_ptr< const Link link,
ofstream &  os 
)

error

Definition at line 382 of file collada_to_urdf.cpp.

void addChildLinkNamesXML ( boost::shared_ptr< const Link link,
ofstream &  os 
)

Definition at line 178 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 97 of file collada_to_urdf.cpp.

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

Definition at line 67 of file collada_to_urdf.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 515 of file collada_to_urdf.cpp.

void printTreeXML ( boost::shared_ptr< const Link link,
string  name,
string  file 
)

Definition at line 456 of file collada_to_urdf.cpp.


Variable Documentation

Definition at line 42 of file collada_to_urdf.cpp.

Definition at line 49 of file collada_to_urdf.cpp.

Definition at line 46 of file collada_to_urdf.cpp.

string mesh_dir = "/tmp"

Definition at line 48 of file collada_to_urdf.cpp.

Definition at line 51 of file collada_to_urdf.cpp.

Definition at line 50 of file collada_to_urdf.cpp.

Definition at line 45 of file collada_to_urdf.cpp.

Definition at line 43 of file collada_to_urdf.cpp.

Definition at line 44 of file collada_to_urdf.cpp.

Definition at line 41 of file collada_to_urdf.cpp.

Definition at line 40 of file collada_to_urdf.cpp.

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collada_tools
Author(s): Yohei Kakiuchi (youhei@jsk.t.u-tokyo.ac.jp)
autogenerated on Sat Mar 23 2013 19:48:48