collada_urdf: split top-level API functions into own header

collada_urdf/include/collada_urdf/collada_urdf.h

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+/*********************************************************************
+* 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 COLLADA_URDF_COLLADA_URDF_H
+#define COLLADA_URDF_COLLADA_URDF_H
+
+#include <string>
+
+#include <boost/shared_ptr.hpp>
+
+#include <dae.h>
+
+#include "urdf/model.h"
+
+namespace collada_urdf {
+
+/** Constructs a COLLADA DOM from a file, given the filename
+ * \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);
+
+}
+
+#endif

collada_urdf/src/collada_urdf.cpp

@@ -0,0 +1,82 @@
+/*********************************************************************
+* 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 */
+
+#include "collada_urdf/collada_urdf.h"
+#include "collada_urdf/collada_writer.h"
+
+using std::string;
+using boost::shared_ptr;
+
+namespace collada_urdf {
+
+bool colladaFromFile(string const& file, 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(string const& xml, 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, 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, shared_ptr<DAE>& dom) {
+    ColladaWriter writer(robot_model);
+    dom = writer.convert();
+
+    return dom != shared_ptr<DAE>();
+}
+
+}