urdf_to_collada.cpp
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00034 
00035 /* Author: Tim Field */
00036 
00037 #include "collada_urdf/collada_urdf.h"
00038 #include <ros/ros.h>
00039 
00040 int main(int argc, char** argv)
00041 {
00042     if (argc != 3) {
00043         std::cerr << "Usage: urdf_to_collada input.urdf output.dae" << std::endl;
00044         return -1;
00045     }
00046 
00047         ros::init(argc, argv, "urdf_to_collada");
00048 
00049     std::string input_filename(argv[1]);
00050     std::string output_filename(argv[2]);
00051 
00052     urdf::Model robot_model;
00053     if( !robot_model.initFile(input_filename) ) {
00054         ROS_ERROR("failed to open urdf file %s",input_filename.c_str());
00055     }
00056 
00057     boost::shared_ptr<DAE> dom;
00058     if (!collada_urdf::colladaFromUrdfModel(robot_model, dom)) {
00059         std::cerr << std::endl << "Error converting document" << std::endl;
00060         return -1;
00061     }
00062 
00063     collada_urdf::colladaToFile(dom, output_filename);
00064     std::cout << std::endl << "Document successfully written to " << output_filename << std::endl;
00065 
00066     return 0;
00067 }
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collada_urdf
Author(s): Tim Field and Rosen Diankov
autogenerated on Mon Aug 19 2013 11:02:27