/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2010, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redstributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Tim Field */

#ifndef _WIN32
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#include "collada_urdf/collada_urdf.h"
#pragma GCC diagnostic pop
#endif

#include <ros/ros.h>

int main(int argc, char** argv)
{
    if (argc != 3) {
        std::cerr << "Usage: urdf_to_collada input.urdf output.dae" << std::endl;
        return -1;
    }

	ros::init(argc, argv, "urdf_to_collada");

    std::string input_filename(argv[1]);
    std::string output_filename(argv[2]);

    urdf::Model robot_model;
    if( !robot_model.initFile(input_filename) ) {
        ROS_ERROR("failed to open urdf file %s",input_filename.c_str());
    }

    collada_urdf::WriteUrdfModelToColladaFile(robot_model, output_filename);
    std::cout << std::endl << "Document successfully written to " << output_filename << std::endl;

    return 0;
}
