collada_urdf: link Boost.System

collada_urdf/CMakeLists.txt

@@ -3,6 +3,12 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 set(ROS_BUILD_TYPE Debug)
 rosbuild_init()
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/collada_writer.cpp src/stl_loader.cpp)
 
-rosbuild_add_gtest(test_collada_writer test/test_collada_writer.cpp src/collada_writer.cpp src/stl_loader.cpp)
+rosbuild_add_library(collada_urdf src/collada_urdf.cpp src/collada_writer.cpp src/stl_loader.cpp)
+rosbuild_link_boost(collada_urdf system)
+
+rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp)
+target_link_libraries(urdf_to_collada collada_urdf)
+
+rosbuild_add_gtest(test_collada_writer test/test_collada_urdf.cpp)
+target_link_libraries(test_collada_writer collada_urdf)

collada_urdf/include/collada_urdf/collada_writer.h

@@ -32,6 +32,8 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
+/* Author: Tim Field */
+
 #ifndef COLLADA_URDF_COLLADA_WRITER_H
 #define COLLADA_URDF_COLLADA_WRITER_H
 
@@ -59,36 +61,6 @@ public:
     ColladaWriterException(std::string const& what) : std::runtime_error(what) { }
 };
 
-/** Constructs a COLLADA DOM from a file, given the file name
- * \param file The filename from where to read the XML
- * \param dom The resulting COLLADA DOM
- * \return true on success, false on failure
- */
-bool colladaFromFile(std::string const& file, boost::shared_ptr<DAE>& dom);
-
-/** Constructs a COLLADA DOM from a string containing XML
- * \param xml A string containing the XML description of the robot
- * \param dom The resulting COLLADA DOM
- * \return true on success, false on failure
- */
-bool colladaFromString(std::string const& xml, boost::shared_ptr<DAE>& dom);
-
-/** Constructs a COLLADA DOM from a TiXmlDocument
- * \param xml_doc The TiXmlDocument containing the XML description of the robot
- * \param dom The resulting COLLADA DOM
- * \return true on success, false on failure
- */
-bool colladaFromXml(TiXmlDocument* xml_doc, boost::shared_ptr<DAE>& dom);
-
-/** Constructs a COLLADA DOM from a URDF robot model
- * \param robot_model The URDF robot model
- * \param dom The resulting COLLADA DOM
- * \return true on success, false on failure
- */
-bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr<DAE>& dom);
-
-//
-
 class Mesh;
 
 class ColladaWriter : public daeErrorHandler

collada_urdf/include/collada_urdf/stl_loader.h

@@ -32,6 +32,8 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
+/* Author: Tim Field */
+
 #ifndef COLLADA_URDF_STL_LOADER_H
 #define COLLADA_URDF_STL_LOADER_H
 

collada_urdf/src/collada_writer.cpp

@@ -32,6 +32,8 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
+/* Author: Tim Field */
+
 #include "collada_urdf/collada_writer.h"
 
 #include "collada_urdf/stl_loader.h"
@@ -49,45 +51,6 @@ using boost::shared_ptr;
 
 namespace collada_urdf {
 
-bool colladaFromFile(std::string const& file, boost::shared_ptr<DAE>& dom) {
-    TiXmlDocument urdf_xml;
-    if (!urdf_xml.LoadFile(file)) {
-        ROS_ERROR("Could not load XML file");
-        return false;
-    }
-
-    return colladaFromXml(&urdf_xml, dom);
-}
-
-bool colladaFromString(std::string const& xml, boost::shared_ptr<DAE>& dom) {
-    TiXmlDocument urdf_xml;
-    if (urdf_xml.Parse(xml.c_str()) == 0) {
-        ROS_ERROR("Could not parse XML document");
-        return false;
-    }
-
-    return colladaFromXml(&urdf_xml, dom);
-}
-
-bool colladaFromXml(TiXmlDocument* xml_doc, boost::shared_ptr<DAE>& dom) {
-    urdf::Model robot_model;
-    if (!robot_model.initXml(xml_doc)) {
-        ROS_ERROR("Could not generate robot model");
-        return false;
-    }
-
-    return colladaFromUrdfModel(robot_model, dom);
-}
-
-bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr<DAE>& dom) {
-    ColladaWriter writer(robot_model);
-    dom = writer.convert();
-
-    return dom != shared_ptr<DAE>();
-}
-
-//
-
 ColladaWriter::ColladaWriter(urdf::Model const& robot) : robot_(robot), dom_(NULL) { }
 
 shared_ptr<DAE> ColladaWriter::convert() {
@@ -310,7 +273,7 @@ bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource con
     if (fd == -1)
         throw ColladaWriterException("Couldn't create temporary file");
 
-    if (write(fd, resource.data.get(), resource.size) != resource.size) {
+    if ((uint32_t) write(fd, resource.data.get(), resource.size) != resource.size) {
         close(fd);
         unlink(tmp_filename);
         throw ColladaWriterException("Couldn't write resource to file");

collada_urdf/src/stl_loader.cpp

@@ -32,6 +32,8 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
+/* Author: Tim Field */
+
 #include "collada_urdf/stl_loader.h"
 
 #include <ctype.h>

collada_urdf/src/urdf_to_collada.cpp

@@ -32,7 +32,9 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-#include "collada_urdf/collada_writer.h"
+/* Author: Tim Field */
+
+#include "collada_urdf/collada_urdf.h"
 
 int main(int argc, char** argv)
 {

collada_urdf/test/test_collada_urdf.cpp

@@ -25,7 +25,9 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#include "collada_urdf/collada_writer.h"
+/* Author: Tim Field */
+
+#include "collada_urdf/collada_urdf.h"
 
 #include <gtest/gtest.h>