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collada_urdf: cleaned up interface, removing unfinished assimp mesh-loading

This commit is contained in:
tfield 2010-04-23 18:31:27 +00:00
parent d8d84e3496
commit c6b4ab66f9
7 changed files with 1008 additions and 1002 deletions
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2
collada_urdf/CMakeLists.txt
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@ -3,4 +3,4 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
set(ROS_BUILD_TYPE Debug) set(ROS_BUILD_TYPE Debug)
rosbuild_init() rosbuild_init()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/STLLoader.cpp) rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/ColladaWriter.cpp src/STLLoader.cpp)

128
collada_urdf/include/collada_urdf/ColladaWriter.h Normal file
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@ -0,0 +1,128 @@
/*********************************************************************
* 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.
*********************************************************************/
#ifndef COLLADA_URDF_COLLADA_WRITER_H
#define COLLADA_URDF_COLLADA_WRITER_H
#include <map>
#include <dae.h>
#include <dae/daeDocument.h>
#include <dae/daeErrorHandler.h>
#include <dae/domAny.h>
#include <dom/domCOLLADA.h>
#include <dom/domConstants.h>
#include <dom/domElements.h>
#include <dom/domTriangles.h>
#include <dom/domTypes.h>
#include <resource_retriever/retriever.h>
#include <urdf/model.h>
#include <urdf/pose.h>
#include <angles/angles.h>
namespace collada_urdf {
class Mesh;
class ColladaWriter : public daeErrorHandler
{
private:
struct SCENE
{
domVisual_sceneRef vscene;
domKinematics_sceneRef kscene;
domPhysics_sceneRef pscene;
domInstance_with_extraRef viscene;
domInstance_kinematics_sceneRef kiscene;
domInstance_with_extraRef piscene;
};
public:
ColladaWriter(std::string const& documentName, urdf::Model* robot);
virtual ~ColladaWriter();
/**
* todo
* @return
*/
bool writeScene();
protected:
virtual void handleError(daeString msg);
virtual void handleWarning(daeString msg);
private:
SCENE createScene();
void setupPhysics(SCENE scene);
void addGeometries();
void loadMesh(std::string const& filename, domGeometryRef geometry, std::string const& geometry_id);
bool loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, std::string const& geometry_id);
void buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, std::string const& geometry_id);
void addJoints(daeElementRef parent);
void addBindings(SCENE scene);
void addKinematics(SCENE scene);
void addKinematicLink(boost::shared_ptr<urdf::Link const> urdf_link, daeElementRef parent, int& link_num);
void addVisuals(SCENE scene);
void addMaterials();
domEffectRef addEffect(std::string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse);
void addVisualLink(boost::shared_ptr<urdf::Link const> urdf_link, daeElementRef parent, int& link_num);
domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position);
domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r);
private:
urdf::Model* robot_;
boost::shared_ptr<DAE> collada_;
domCOLLADA* dom_;
domCOLLADA::domSceneRef scene_;
domLibrary_geometriesRef geometriesLib_;
domLibrary_visual_scenesRef visualScenesLib_;
domLibrary_kinematics_scenesRef kinematicsScenesLib_;
domLibrary_kinematics_modelsRef kinematicsModelsLib_;
domLibrary_jointsRef jointsLib_;
domLibrary_physics_scenesRef physicsScenesLib_;
domLibrary_materialsRef materialsLib_;
domLibrary_effectsRef effectsLib_;
domKinematics_modelRef kmodel_;
std::map<std::string, std::string> geometry_ids_; //!< link.name -> geometry.id
std::map<std::string, std::string> joint_sids_; //!< joint.name -> joint.sid
std::map<std::string, std::string> node_ids_; //!< joint.name -> node.id
};
}
#endif

58
collada_urdf/src/STLLoader.h → collada_urdf/include/collada_urdf/STLLoader.h
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@ -1,7 +1,7 @@
/********************************************************************* /*********************************************************************
* Software License Agreement (BSD License) * Software License Agreement (BSD License)
* *
* Copyright (c) 2008, Willow Garage, Inc. * Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved. * All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
@ -32,14 +32,11 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/ *********************************************************************/
/* Author: Tim Field */ #ifndef COLLADA_URDF_STL_LOADER_H
#define COLLADA_URDF_STL_LOADER_H
// STLLoader.h
#ifndef COLLADA_URDF_STLLOADER_HH
#define COLLADA_URDF_STLLOADER_HH
#include <stdint.h> #include <stdint.h>
#include <string> #include <string>
#include <vector> #include <vector>
@ -48,48 +45,49 @@
#define ORDER_MAX 10 #define ORDER_MAX 10
#define FACE_MAX 200000 #define FACE_MAX 200000
namespace collada_urdf namespace collada_urdf {
class Vector3
{ {
class Vector3 public:
{
public:
Vector3(float x, float y, float z); Vector3(float x, float y, float z);
bool operator==(const Vector3& v) const; bool operator==(Vector3 const& v) const;
float x; float x;
float y; float y;
float z; float z;
}; };
class Mesh class Mesh
{ {
public: public:
Mesh(); Mesh();
int getVertexIndex(const Vector3& v) const; int getVertexIndex(Vector3 const& v) const;
void addVertex(const Vector3& v); void addVertex(Vector3 const& v);
void addNormal(const Vector3& n); void addNormal(Vector3 const& n);
void addIndex(unsigned int i); void addIndex(unsigned int i);
public: public:
std::vector<Vector3> vertices; std::vector<Vector3> vertices;
std::vector<Vector3> normals; std::vector<Vector3> normals;
std::vector<unsigned int> indices; std::vector<unsigned int> indices;
}; };
class STLLoader class STLLoader
{ {
public: public:
Mesh* load(const std::string& filename); Mesh* load(std::string const& filename);
private: private:
void readBinary(FILE* filein, Mesh* mesh); void readBinary (FILE* filein, Mesh* mesh);
uint32_t readLongInt(FILE* filein); uint32_t readLongInt (FILE* filein);
uint16_t readShortInt(FILE* filein); uint16_t readShortInt(FILE* filein);
float readFloat(FILE* filein); float readFloat (FILE* filein);
}; };
} }
#endif #endif

1
collada_urdf/manifest.xml
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@ -11,7 +11,6 @@
<depend package="roscpp" /> <depend package="roscpp" />
<depend package="urdf" /> <depend package="urdf" />
<depend package="colladadom" /> <depend package="colladadom" />
<depend package="assimp" />
<depend package="resource_retriever" /> <depend package="resource_retriever" />
<depend package="angles" /> <depend package="angles" />
</package> </package>

833
collada_urdf/src/ColladaWriter.cpp Normal file
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@ -0,0 +1,833 @@
/*********************************************************************
* 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.
*********************************************************************/
#include "collada_urdf/ColladaWriter.h"
#include "collada_urdf/STLLoader.h"
#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH
using std::string;
using std::map;
using std::vector;
using boost::shared_ptr;
namespace collada_urdf {
ColladaWriter::ColladaWriter(string const& documentName, urdf::Model* robot) : robot_(robot) {
daeErrorHandler::setErrorHandler(this);
collada_.reset(new DAE());
collada_->setIOPlugin(NULL);
collada_->setDatabase(NULL);
daeDocument* doc = NULL;
daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root
if (error != DAE_OK || doc == NULL)
{
std::cerr << "Failed to create new document" << std::endl;
throw;
}
dom_ = daeSafeCast<domCOLLADA>(doc->getDomRoot());
dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML");
// Create the required asset tag
domAssetRef asset = daeSafeCast<domAsset>(dom_->createAndPlace(COLLADA_ELEMENT_ASSET));
{
domAsset::domCreatedRef created = daeSafeCast<domAsset::domCreated>(asset->createAndPlace(COLLADA_ELEMENT_CREATED));
created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date
domAsset::domModifiedRef modified = daeSafeCast<domAsset::domModified>(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED));
modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date
domAsset::domContributorRef contrib = daeSafeCast<domAsset::domContributor>(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR));
domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast<domAsset::domContributor::domAuthoring_tool>(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL));
authoringtool->setValue("URDF Collada Writer");
domAsset::domUnitRef units = daeSafeCast<domAsset::domUnit>(asset->createAndPlace(COLLADA_ELEMENT_UNIT));
units->setMeter(1);
units->setName("meter");
domAsset::domUp_axisRef zup = daeSafeCast<domAsset::domUp_axis>(asset->createAndPlace(COLLADA_ELEMENT_UP_AXIS));
zup->setValue(UP_AXIS_Z_UP);
}
scene_ = dom_->getScene();
if (!scene_)
scene_ = daeSafeCast<domCOLLADA::domScene>(dom_->createAndPlace(COLLADA_ELEMENT_SCENE));
visualScenesLib_ = daeSafeCast<domLibrary_visual_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES));
visualScenesLib_->setId("vscenes");
geometriesLib_ = daeSafeCast<domLibrary_geometries>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES));
geometriesLib_->setId("geometries");
kinematicsScenesLib_ = daeSafeCast<domLibrary_kinematics_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES));
kinematicsScenesLib_->setId("kscenes");
kinematicsModelsLib_ = daeSafeCast<domLibrary_kinematics_models>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS));
kinematicsModelsLib_->setId("kmodels");
jointsLib_ = daeSafeCast<domLibrary_joints>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS));
jointsLib_->setId("joints");
physicsScenesLib_ = daeSafeCast<domLibrary_physics_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES));
physicsScenesLib_->setId("physics_scenes");
effectsLib_ = daeSafeCast<domLibrary_effects>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS));
effectsLib_->setId("effects");
materialsLib_ = daeSafeCast<domLibrary_materials>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS));
materialsLib_->setId("materials");
}
ColladaWriter::~ColladaWriter() {
collada_.reset();
DAE::cleanup();
}
bool ColladaWriter::writeScene() {
SCENE scene = createScene();
setupPhysics(scene);
addGeometries();
addKinematics(scene);
addVisuals(scene);
addMaterials();
addBindings(scene);
collada_->writeAll();
return true;
}
// Implementation
ColladaWriter::SCENE ColladaWriter::createScene() {
SCENE s;
// Create visual scene
s.vscene = daeSafeCast<domVisual_scene>(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE));
s.vscene->setId("vscene");
s.vscene->setName("URDF Visual Scene");
// Create instance visual scene
s.viscene = daeSafeCast<domInstance_with_extra>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE));
s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str());
// Create kinematics scene
s.kscene = daeSafeCast<domKinematics_scene>(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE));
s.kscene->setId("kscene");
s.kscene->setName("URDF Kinematics Scene");
// Create instance kinematics scene
s.kiscene = daeSafeCast<domInstance_kinematics_scene>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE));
s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str());
// Create physics scene
s.pscene = daeSafeCast<domPhysics_scene>(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE));
s.pscene->setId("pscene");
s.pscene->setName("URDF Physics Scene");
// Create instance physics scene
s.piscene = daeSafeCast<domInstance_with_extra>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE));
s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str());
return s;
}
void ColladaWriter::handleError(daeString msg) {
std::cerr << "COLLADA error: " << msg << std::endl;
}
void ColladaWriter::handleWarning(daeString msg) {
std::cerr << "COLLADA warning: " << msg << std::endl;
}
void ColladaWriter::setupPhysics(SCENE scene) {
// <technique_common>
domPhysics_scene::domTechnique_commonRef common = daeSafeCast<domPhysics_scene::domTechnique_common>(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
{
// <gravity>0 0 0
domTargetable_float3Ref g = daeSafeCast<domTargetable_float3>(common->createAndPlace(COLLADA_ELEMENT_GRAVITY));
g->getValue().set3(0.0, 0.0, 0.0);
// </gravity>
}
// </technique_common>
}
void ColladaWriter::addGeometries() {
int link_num = 0;
for (map<string, shared_ptr<urdf::Link> >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) {
shared_ptr<urdf::Link> urdf_link = i->second;
if (urdf_link->visual == NULL || urdf_link->visual->geometry == NULL)
continue;
switch (urdf_link->visual->geometry->type) {
case urdf::Geometry::MESH: {
urdf::Mesh* urdf_mesh = (urdf::Mesh*) urdf_link->visual->geometry.get();
string filename = urdf_mesh->filename;
urdf::Vector3 scale = urdf_mesh->scale; // @todo use scale
// <geometry id="g1.link0.geom0">
domGeometryRef geometry = daeSafeCast<domGeometry>(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY));
string geometry_id = string("g1.link") + boost::lexical_cast<string>(link_num) + string(".geom0");
geometry->setId(geometry_id.c_str());
{
loadMesh(filename, geometry, geometry_id);
}
geometry_ids_[urdf_link->name] = geometry_id;
// </geometry>
link_num++;
break;
}
case urdf::Geometry::SPHERE: {
std::cerr << "Warning: geometry type SPHERE of link " << urdf_link->name << " is unsupported" << std::endl;
break;
}
case urdf::Geometry::BOX: {
std::cerr << "Warning: geometry type BOX of link " << urdf_link->name << " is unsupported" << std::endl;
break;
}
case urdf::Geometry::CYLINDER: {
std::cerr << "Warning: geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << std::endl;
break;
}
default: {
std::cerr << "Warning: geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << std::endl;
break;
}
}
}
}
void ColladaWriter::loadMesh(string const& filename, domGeometryRef geometry, string const& geometry_id) {
// Load the mesh
resource_retriever::MemoryResource resource;
resource_retriever::Retriever retriever;
try {
resource = retriever.get(filename.c_str());
}
catch (resource_retriever::Exception& e) {
std::cerr << "Unable to load mesh file " << filename << ": " << e.what() << std::endl;
return;
}
// Try assimp first, then STLLoader
if (!loadMeshWithSTLLoader(resource, geometry, geometry_id))
std::cerr << "Can't load mesh " << filename << std::endl;
}
bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, string const& geometry_id) {
// Write the resource to a temporary file
char tmp_filename[] = "/tmp/collada_urdf_XXXXXX";
int fd = mkstemp(tmp_filename);
write(fd, resource.data.get(), resource.size);
close(fd);
// Import the mesh using STLLoader
STLLoader loader;
Mesh* stl_mesh = loader.load(string(tmp_filename));
buildMeshFromSTLLoader(stl_mesh, geometry, geometry_id);
delete stl_mesh;
// Delete the temporary file
unlink(tmp_filename);
return true;
}
void ColladaWriter::buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, string const& geometry_id) {
// <mesh>
domMeshRef mesh = daeSafeCast<domMesh>(parent->createAndPlace(COLLADA_ELEMENT_MESH));
{
unsigned int num_vertices = stl_mesh->vertices.size();
unsigned int num_indices = stl_mesh->indices.size();
unsigned int num_faces = num_indices / 3;
// <source id="g1.link0.geom0.positions">
domSourceRef positions_source = daeSafeCast<domSource>(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE));
positions_source->setId((geometry_id + string(".positions")).c_str());
{
// <float_array id="g1.link0.geom0.positions-array" count="4533" digits="6">
domFloat_arrayRef positions_array = daeSafeCast<domFloat_array>(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY));
positions_array->setId((geometry_id + string(".positions-array")).c_str());
positions_array->setCount(num_vertices * 3);
positions_array->setDigits(6); // 6 decimal places
positions_array->getValue().setCount(num_vertices * 3);
for (unsigned int j = 0; j < num_vertices; j++) {
positions_array->getValue()[j * 3 ] = stl_mesh->vertices[j].x;
positions_array->getValue()[j * 3 + 1] = stl_mesh->vertices[j].y;
positions_array->getValue()[j * 3 + 2] = stl_mesh->vertices[j].z;
}
// </float_array>
// <technique_common>
domSource::domTechnique_commonRef source_tech = daeSafeCast<domSource::domTechnique_common>(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
{
// <accessor count="4533" source="#g1.link0.geom0.positions-array" stride="3">
domAccessorRef accessor = daeSafeCast<domAccessor>(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR));
accessor->setCount(num_vertices / 3);
accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array")));
accessor->setStride(3);
{
// <param name="X" type="float"/>
// <param name="Y" type="float"/>
// <param name="Z" type="float"/>
domParamRef px = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float");
domParamRef py = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float");
domParamRef pz = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float");
}
// </accessor>
}
// </technique_common>
}
// <vertices id="vertices">
domVerticesRef vertices = daeSafeCast<domVertices>(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES));
string vertices_id = geometry_id + string(".vertices");
vertices->setId(vertices_id.c_str());
{
// <input semantic="POSITION" source="#g1.link0.geom0.positions"/>
domInput_localRef vertices_input = daeSafeCast<domInput_local>(vertices->createAndPlace(COLLADA_ELEMENT_INPUT));
vertices_input->setSemantic("POSITION");
vertices_input->setSource(domUrifragment(*positions_source, string("#") + string(positions_source->getId())));
}
// </vertices>
// <triangles count="1511" material="mat0">
domTrianglesRef triangles = daeSafeCast<domTriangles>(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES));
triangles->setCount(num_faces);
triangles->setMaterial("mat0");
{
// <input offset="0" semantic="VERTEX" source="#g1.link0.geom0/vertices" set="0"/>
domInput_local_offsetRef vertex_offset = daeSafeCast<domInput_local_offset>(triangles->createAndPlace(COLLADA_ELEMENT_INPUT));
vertex_offset->setSemantic("VERTEX");
vertex_offset->setOffset(0);
vertex_offset->setSource(domUrifragment(*positions_source, string("#") + vertices_id));
{
// <p>0 1 2 3 ...
domPRef indices = daeSafeCast<domP>(triangles->createAndPlace(COLLADA_ELEMENT_P));
indices->getValue().setCount(num_indices);
for (unsigned int i = 0; i < num_indices; i++)
indices->getValue()[i] = stl_mesh->indices[i];
// </p>
}
}
// </triangles>
}
// </mesh>
}
void ColladaWriter::addJoints(daeElementRef parent) {
int joint_num = 0;
for (map<string, shared_ptr<urdf::Joint> >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) {
shared_ptr<urdf::Joint> urdf_joint = i->second;
// <joint name="base_laser_joint" sid="joint0">
domJointRef joint = daeSafeCast<domJoint>(parent->createAndPlace(COLLADA_ELEMENT_JOINT));
string joint_sid = string("joint") + boost::lexical_cast<string>(joint_num);
joint_num++;
joint->setName(urdf_joint->name.c_str());
joint->setSid(joint_sid.c_str());
joint_sids_[urdf_joint->name] = joint_sid;
double axis_x = urdf_joint->axis.x;
double axis_y = urdf_joint->axis.y;
double axis_z = urdf_joint->axis.z;
if (axis_x == 0.0 && axis_y == 0.0 && axis_z == 0.0) {
axis_x = 1.0;
axis_y = 0.0;
axis_z = 0.0;
}
// @hack: OpenRAVE appears to flip joint axes
axis_x *= -1.0;
axis_y *= -1.0;
axis_z *= -1.0;
switch (urdf_joint->type)
{
case urdf::Joint::REVOLUTE: {
// <revolute sid="axis0">
domAxis_constraintRef revolute = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE));
revolute->setSid("axis0");
{
// <axis>
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{
axis->getValue().setCount(3);
axis->getValue()[0] = axis_x;
axis->getValue()[1] = axis_y;
axis->getValue()[2] = axis_z;
}
// </axis>
// <limits>
domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(revolute->createAndPlace(COLLADA_TYPE_LIMITS));
{
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower);
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper);
}
// </limits>
}
// </revolute>
break;
}
case urdf::Joint::CONTINUOUS: {
// Model as a REVOLUTE joint without limits
// <revolute sid="axis0">
domAxis_constraintRef revolute = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE));
revolute->setSid("axis0");
{
// <axis>
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{
axis->getValue().setCount(3);
axis->getValue()[0] = axis_x;
axis->getValue()[1] = axis_y;
axis->getValue()[2] = axis_z;
}
// </axis>
}
// </revolute>
break;
}
case urdf::Joint::PRISMATIC: {
// <prismatic sid="axis0">
domAxis_constraintRef prismatic = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC));
prismatic->setSid("axis0");
{
// <axis>
domAxisRef axis = daeSafeCast<domAxis>(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS));
{
axis->getValue().setCount(3);
axis->getValue()[0] = axis_x;
axis->getValue()[1] = axis_y;
axis->getValue()[2] = axis_z;
}
// </axis>
// <limits>
domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(prismatic->createAndPlace(COLLADA_TYPE_LIMITS));
{
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower;
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper;
}
// </limits>
}
// </prismatic>
break;
}
case urdf::Joint::FIXED: {
// Model as a REVOLUTE joint with no leeway
domAxis_constraintRef revolute = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE));
revolute->setSid("axis0");
{
// <axis>
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{
axis->getValue().setCount(3);
axis->getValue()[0] = axis_x;
axis->getValue()[1] = axis_y;
axis->getValue()[2] = axis_z;
}
// </axis>
// <limits>
domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(revolute->createAndPlace(COLLADA_TYPE_LIMITS));
{
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0;
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0;
}
// </limits>
}
// </revolute>
break;
}
case urdf::Joint::UNKNOWN: {
std::cerr << "Joint type UNKNOWN of joint " << urdf_joint->name << " is unsupported" << std::endl;
break;
}
case urdf::Joint::FLOATING: {
std::cerr << "Joint type FLOATING of joint " << urdf_joint->name << " is unsupported" << std::endl;
break;
}
case urdf::Joint::PLANAR: {
std::cerr << "Joint type PLANAR of joint " << urdf_joint->name << " is unsupported" << std::endl;
break;
}
default: {
std::cerr << "Joint type " << urdf_joint->type << " of joint " << urdf_joint->name << " is unsupported" << std::endl;
break;
}
}
}
}
void ColladaWriter::addBindings(SCENE scene) {
string model_id = kmodel_->getID();
string inst_model_sid = string("inst_") + model_id;
// <bind_kinematics_scene>
// <bind_kinematics_model node="node0">
domBind_kinematics_modelRef kmodel_bind = daeSafeCast<domBind_kinematics_model>(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL));
kmodel_bind->setNode("v1.node0"); // @todo
daeSafeCast<domCommon_param>(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str());
for (map<string, shared_ptr<urdf::Joint> >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) {
shared_ptr<urdf::Joint> urdf_joint = i->second;
int idof = 0; // @todo assuming 1 dof joints
string joint_sid = joint_sids_[urdf_joint->name];
string axis_name = string("axis") + boost::lexical_cast<string>(idof);
string joint_axis_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name;
string joint_axis_value_sid = joint_axis_sid + string("_value");
// <bind_joint_axis target="node0/joint_1_axis0">
domBind_joint_axisRef joint_bind = daeSafeCast<domBind_joint_axis>(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS));
string node_name = node_ids_[urdf_joint->name];
joint_bind->setTarget((node_name + string("/node_") + joint_sid + string("_") + axis_name).c_str());
{
// <axis>
domCommon_sidref_or_paramRef axis_bind = daeSafeCast<domCommon_sidref_or_param>(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS));
{
daeSafeCast<domCommon_param>(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_sid.c_str());
}
// </axis>
// <value>
domCommon_float_or_paramRef value_bind = daeSafeCast<domCommon_float_or_param>(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE));
{
daeSafeCast<domCommon_param>(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_value_sid.c_str());
}
}
// </bind_joint_axis>
}
}
void ColladaWriter::addKinematics(SCENE scene) {
// <kinematics_model id="k1" name="pr2">
domKinematics_modelRef kmodel = daeSafeCast<domKinematics_model>(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL));
kmodel->setId("k1");
kmodel->setName(robot_->getName().c_str());
{
// <technique_common>
domKinematics_model_techniqueRef technique = daeSafeCast<domKinematics_model_technique>(kmodel->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
addJoints(technique);
// </technique_common>
// <link ...>
int link_num = 0;
addKinematicLink(robot_->getRoot(), technique, link_num);
// </link>
}
kmodel_ = kmodel;
// </kinematics_model>
string model_id = kmodel->getID();
string inst_model_sid = string("inst_") + model_id;
// <instance_kinematics_model url="#k1" sid="inst_k1">
domInstance_kinematics_modelRef ikm = daeSafeCast<domInstance_kinematics_model>(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL));
ikm->setUrl((string("#") + model_id).c_str());
ikm->setSid(inst_model_sid.c_str());
{
// <newparam sid="kscene.inst_k1">
domKinematics_newparamRef newparam_model = daeSafeCast<domKinematics_newparam>(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM));
string newparam_model_sid = string("kscene.inst_") + model_id;
newparam_model->setSid(newparam_model_sid.c_str());
{
// <SIDREF>kscene/inst_k1</SIDREF>
string model_sidref = string("kscene/inst_") + model_id;
daeSafeCast<domKinematics_newparam::domSIDREF>(newparam_model->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(model_sidref.c_str());
}
// </newparam>
for (map<string, shared_ptr<urdf::Joint> >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) {
shared_ptr<urdf::Joint> urdf_joint = i->second;
int idof = 0; // @todo assuming 1 dof joints
string joint_sid = joint_sids_[urdf_joint->name];
string axis_name = string("axis") + boost::lexical_cast<string>(idof);
// <newparam sid="kscene.inst_k1.joint0.axis0">
domKinematics_newparamRef newparam = daeSafeCast<domKinematics_newparam>(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM));
string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name;
newparam->setSid(newparam_sid.c_str());
{
// <SIDREF>kscene/inst_k1/joint0/axis0</SIDREF>
string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/") + axis_name;
daeSafeCast<domKinematics_newparam::domSIDREF>(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str());
}
// </newparam>
// <newparam sid="kscene.inst_k1.joint0.axis0_value">
domKinematics_newparamRef newparam_value = daeSafeCast<domKinematics_newparam>(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM));
string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name + string("_value");
newparam_value->setSid(newparam_value_sid.c_str());
{
// <float>0</float>
daeSafeCast<domKinematics_newparam::domFloat>(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f);
}
// </newparam>
}
}
// </instance_kinematics_model>
}
void ColladaWriter::addKinematicLink(shared_ptr<const urdf::Link> urdf_link, daeElementRef parent, int& link_num) {
// <link sid="link0" name="base_link">
domLinkRef link = daeSafeCast<domLink>(parent->createAndPlace(COLLADA_ELEMENT_LINK));
string link_sid = string("link") + boost::lexical_cast<string>(link_num);
link->setName(urdf_link->name.c_str());
link->setSid(link_sid.c_str());
link_num++;
foreach(shared_ptr<urdf::Joint> urdf_joint, urdf_link->child_joints) {
// <attachment_full joint="k1/joint0">
domLink::domAttachment_fullRef attachment_full = daeSafeCast<domLink::domAttachment_full>(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL));
string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name];
attachment_full->setJoint(attachment_joint.c_str());
{
addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation);
addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position);
addKinematicLink(robot_->getLink(urdf_joint->child_link_name), attachment_full, link_num);
}
// </attachment_full>
}
// </link>
}
void ColladaWriter::addVisuals(SCENE scene) {
// <node id="v1" name="pr2">
domNodeRef root_node = daeSafeCast<domNode>(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE));
root_node->setId("v1");
root_node->setName(robot_->getName().c_str());
{
int link_num = 0;
addVisualLink(robot_->getRoot(), root_node, link_num);
}
}
void ColladaWriter::addMaterials() {
urdf::Color ambient, diffuse;
ambient.init("1 1 1 0");
diffuse.init("1 1 1 0");
for (map<string, shared_ptr<urdf::Link> >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) {
shared_ptr<urdf::Link> urdf_link = i->second;
map<string, string>::const_iterator j = geometry_ids_.find(urdf_link->name);
if (j == geometry_ids_.end())
continue;
string geometry_id = j->second;
domEffectRef effect = addEffect(geometry_id, ambient, diffuse);
// <material id="g1.link0.geom0.eff">
domMaterialRef material = daeSafeCast<domMaterial>(materialsLib_->createAndPlace(COLLADA_ELEMENT_MATERIAL));
string material_id = geometry_id + string(".mat");
material->setId(material_id.c_str());
{
// <instance_effect url="#g1.link0.geom0.eff"/>
domInstance_effectRef instance_effect = daeSafeCast<domInstance_effect>(material->createAndPlace(COLLADA_ELEMENT_INSTANCE_EFFECT));
string effect_id(effect->getId());
instance_effect->setUrl((string("#") + effect_id).c_str());
}
// </material>
}
}
domEffectRef ColladaWriter::addEffect(string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse)
{
// <effect id="g1.link0.geom0.eff">
domEffectRef effect = daeSafeCast<domEffect>(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT));
string effect_id = geometry_id + string(".eff");
effect->setId(effect_id.c_str());
{
// <profile_COMMON>
domProfile_commonRef profile = daeSafeCast<domProfile_common>(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON));
{
// <technique sid="">
domProfile_common::domTechniqueRef technique = daeSafeCast<domProfile_common::domTechnique>(profile->createAndPlace(COLLADA_ELEMENT_TECHNIQUE));
{
// <phong>
domProfile_common::domTechnique::domPhongRef phong = daeSafeCast<domProfile_common::domTechnique::domPhong>(technique->createAndPlace(COLLADA_ELEMENT_PHONG));
{
// <ambient>
domFx_common_color_or_textureRef ambient = daeSafeCast<domFx_common_color_or_texture>(phong->createAndPlace(COLLADA_ELEMENT_AMBIENT));
{
// <color>r g b a
domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast<domFx_common_color_or_texture::domColor>(ambient->createAndPlace(COLLADA_ELEMENT_COLOR));
ambient_color->getValue().setCount(4);
ambient_color->getValue()[0] = color_ambient.r;
ambient_color->getValue()[1] = color_ambient.g;
ambient_color->getValue()[2] = color_ambient.b;
ambient_color->getValue()[3] = color_ambient.a;
// </color>
}
// </ambient>
// <diffuse>
domFx_common_color_or_textureRef diffuse = daeSafeCast<domFx_common_color_or_texture>(phong->createAndPlace(COLLADA_ELEMENT_DIFFUSE));
{
// <color>r g b a
domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast<domFx_common_color_or_texture::domColor>(diffuse->createAndPlace(COLLADA_ELEMENT_COLOR));
diffuse_color->getValue().setCount(4);
diffuse_color->getValue()[0] = color_diffuse.r;
diffuse_color->getValue()[1] = color_diffuse.g;
diffuse_color->getValue()[2] = color_diffuse.b;
diffuse_color->getValue()[3] = color_diffuse.a;
// </color>
}
// </diffuse>
}
// </phong>
}
// </technique>
}
// </profile_COMMON>
}
// </effect>
return effect;
}
void ColladaWriter::addVisualLink(shared_ptr<urdf::Link const> urdf_link, daeElementRef parent, int& link_num) {
// <node id="v1.node0" name="base_link" sid="node0">
domNodeRef node = daeSafeCast<domNode>(parent->createAndPlace(COLLADA_ELEMENT_NODE));
string node_sid = string("node") + boost::lexical_cast<string>(link_num);
string node_id = string("v1.") + node_sid;
node->setName(urdf_link->name.c_str());
node->setSid(node_sid.c_str());
node->setId(node_id.c_str());
link_num++;
{
if (urdf_link->parent_joint != NULL) {
// <rotate>x y z w</rotate>
addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation);
// <translate>x y z</translate>
addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position);
// <rotate sid="node_joint0_axis0">x y z angle</rotate>
domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation);
string joint_sid = joint_sids_[urdf_link->parent_joint->name];
string joint_rotate_sid = string("node_") + joint_sid + string("_axis0");
joint_rotate->setSid(joint_rotate_sid.c_str());
node_ids_[urdf_link->parent_joint->name] = node_id;
}
// <instance_geometry url="#g1.link0.geom">
map<string, string>::const_iterator i = geometry_ids_.find(urdf_link->name);
if (i != geometry_ids_.end()) {
domInstance_geometryRef instance_geometry = daeSafeCast<domInstance_geometry>(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
string geometry_id = i->second;
string instance_geometry_url = string("#") + geometry_id;
instance_geometry->setUrl(instance_geometry_url.c_str());
{
// <bind_material>
domBind_materialRef bind_material = daeSafeCast<domBind_material>(instance_geometry->createAndPlace(COLLADA_ELEMENT_BIND_MATERIAL));
{
// <technique_common>
domBind_material::domTechnique_commonRef technique_common = daeSafeCast<domBind_material::domTechnique_common>(bind_material->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
{
// <instance_material>
domInstance_materialRef instance_material = daeSafeCast<domInstance_material>(technique_common->createAndPlace(COLLADA_ELEMENT_INSTANCE_MATERIAL));
instance_material->setTarget((instance_geometry_url + string(".mat")).c_str());
instance_material->setSymbol("mat0");
// </instance_material>
}
// </technique_common>
}
// </bind_material>
}
}
// </instance_geometry>
// <node ...>
foreach(shared_ptr<urdf::Link> link2, urdf_link->child_links)
addVisualLink(link2, node, link_num);
// </node>
}
// </node>
}
domTranslateRef ColladaWriter::addTranslate(daeElementRef parent, urdf::Vector3 const& position) {
// <translate>x y z</translate>
domTranslateRef trans = daeSafeCast<domTranslate>(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE));
trans->getValue().setCount(3);
trans->getValue()[0] = position.x;
trans->getValue()[1] = position.y;
trans->getValue()[2] = position.z;
return trans;
}
domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const& r) {
double ax, ay, az, aa;
// Convert from quaternion to axis-angle
double sqr_len = r.x * r.x + r.y * r.y + r.z * r.z;
if (sqr_len > 0) {
aa = 2 * acos(r.w);
double inv_len = 1.0 / sqrt(sqr_len);
ax = r.x * inv_len;
ay = r.y * inv_len;
az = r.z * inv_len;
}
else {
// Angle is 0 (mod 2*pi), so any axis will do
aa = 0.0;
ax = 1.0;
ay = 0.0;
az = 0.0;
}
// <rotate>x y z w</rotate>
domRotateRef rot = daeSafeCast<domRotate>(parent->createAndPlace(COLLADA_ELEMENT_ROTATE));
rot->getValue().setCount(4);
rot->getValue()[0] = ax;
rot->getValue()[1] = ay;
rot->getValue()[2] = az;
rot->getValue()[3] = angles::to_degrees(aa);
return rot;
}
}

14
collada_urdf/src/STLLoader.cpp
View File

@ -1,7 +1,7 @@
/********************************************************************* /*********************************************************************
* Software License Agreement (BSD License) * Software License Agreement (BSD License)
* *
* Copyright (c) 2008, Willow Garage, Inc. * Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved. * All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
@ -32,18 +32,14 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/ *********************************************************************/
/* Author: Tim Field */
// STLLoader.cpp
#include <iostream> #include <iostream>
#include <string.h> #include <string.h>
#include <ctype.h> #include <ctype.h>
#include <stdio.h> #include <stdio.h>
#include "STLLoader.h" #include "collada_urdf/STLLoader.h"
using namespace collada_urdf; namespace collada_urdf {
Vector3::Vector3(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { } Vector3::Vector3(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { }
@ -66,8 +62,6 @@ void Mesh::addVertex(const Vector3& v) { vertices.push_back(v); }
void Mesh::addNormal(const Vector3& n) { normals.push_back(n); } void Mesh::addNormal(const Vector3& n) { normals.push_back(n); }
void Mesh::addIndex(unsigned int i) { indices.push_back(i); } void Mesh::addIndex(unsigned int i) { indices.push_back(i); }
//
Mesh* STLLoader::load(const std::string& filename) { Mesh* STLLoader::load(const std::string& filename) {
Mesh* mesh = new Mesh(); Mesh* mesh = new Mesh();
@ -133,3 +127,5 @@ uint16_t STLLoader::readShortInt(FILE* filein) {
return ival; return ival;
} }
}

954
collada_urdf/src/urdf_to_collada.cpp
View File

@ -1,7 +1,7 @@
/********************************************************************* /*********************************************************************
* Software License Agreement (BSD License) * Software License Agreement (BSD License)
* *
* Copyright (c) 2008, Willow Garage, Inc. * Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved. * All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
@ -32,955 +32,7 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/ *********************************************************************/
/* Author: Tim Field */ #include "collada_urdf/ColladaWriter.h"
// urdf_to_collada.cpp
#include <dae.h>
#include <dae/daeErrorHandler.h>
#include <dom/domCOLLADA.h>
#include <dae/domAny.h>
#include <dom/domConstants.h>
#include <dom/domTriangles.h>
#include <dae/daeDocument.h>
#include <dom/domTypes.h>
#include <dom/domElements.h>
#include <assimp/assimp.hpp>
#include <assimp/aiScene.h>
#include <assimp/aiPostProcess.h>
#include <resource_retriever/retriever.h>
#include <urdf/model.h>
#include <urdf/pose.h>
#include <angles/angles.h>
#include "STLLoader.h"
using namespace std;
namespace collada_urdf {
class ColladaWriter : public daeErrorHandler
{
public:
struct SCENE
{
domVisual_sceneRef vscene;
domKinematics_sceneRef kscene;
domPhysics_sceneRef pscene;
domInstance_with_extraRef viscene;
domInstance_kinematics_sceneRef kiscene;
domInstance_with_extraRef piscene;
};
urdf::Model* robot_;
boost::shared_ptr<DAE> collada_;
domCOLLADA* dom_;
domCOLLADA::domSceneRef scene_;
domLibrary_geometriesRef geometriesLib_;
domLibrary_visual_scenesRef visualScenesLib_;
domLibrary_kinematics_scenesRef kinematicsScenesLib_;
domLibrary_kinematics_modelsRef kinematicsModelsLib_;
domLibrary_jointsRef jointsLib_;
domLibrary_physics_scenesRef physicsScenesLib_;
domLibrary_materialsRef materialsLib_;
domLibrary_effectsRef effectsLib_;
//domLibrary_articulated_systemsRef articulatedSystemsLib_;
domKinematics_modelRef kmodel_;
map<string, string> geometry_ids_; // link.name -> geometry.id
map<string, string> joint_sids_; // joint.name -> joint.sid
map<string, string> node_ids_; // joint.name -> node.id
public:
ColladaWriter(const string& documentName, urdf::Model* robot) : robot_(robot) {
daeErrorHandler::setErrorHandler(this);
collada_.reset(new DAE());
collada_->setIOPlugin(NULL);
collada_->setDatabase(NULL);
daeDocument* doc = NULL;
daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root
if (error != DAE_OK || doc == NULL)
{
cerr << "Failed to create new document\n";
throw;
}
dom_ = daeSafeCast<domCOLLADA>(doc->getDomRoot());
dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML");
// Create the required asset tag
domAssetRef asset = daeSafeCast<domAsset>(dom_->createAndPlace(COLLADA_ELEMENT_ASSET));
{
domAsset::domCreatedRef created = daeSafeCast<domAsset::domCreated>(asset->createAndPlace(COLLADA_ELEMENT_CREATED));
created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date
domAsset::domModifiedRef modified = daeSafeCast<domAsset::domModified>(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED));
modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date
domAsset::domContributorRef contrib = daeSafeCast<domAsset::domContributor>(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR));
domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast<domAsset::domContributor::domAuthoring_tool>(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL));
authoringtool->setValue("URDF Collada Writer");
domAsset::domUnitRef units = daeSafeCast<domAsset::domUnit>(asset->createAndPlace(COLLADA_ELEMENT_UNIT));
units->setMeter(1);
units->setName("meter");
domAsset::domUp_axisRef zup = daeSafeCast<domAsset::domUp_axis>(asset->createAndPlace(COLLADA_ELEMENT_UP_AXIS));
zup->setValue(UP_AXIS_Z_UP);
}
scene_ = dom_->getScene();
if (!scene_)
scene_ = daeSafeCast<domCOLLADA::domScene>(dom_->createAndPlace(COLLADA_ELEMENT_SCENE));
visualScenesLib_ = daeSafeCast<domLibrary_visual_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES));
visualScenesLib_->setId("vscenes");
geometriesLib_ = daeSafeCast<domLibrary_geometries>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES));
geometriesLib_->setId("geometries");
kinematicsScenesLib_ = daeSafeCast<domLibrary_kinematics_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES));
kinematicsScenesLib_->setId("kscenes");
kinematicsModelsLib_ = daeSafeCast<domLibrary_kinematics_models>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS));
kinematicsModelsLib_->setId("kmodels");
jointsLib_ = daeSafeCast<domLibrary_joints>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS));
jointsLib_->setId("joints");
physicsScenesLib_ = daeSafeCast<domLibrary_physics_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES));
physicsScenesLib_->setId("physics_scenes");
effectsLib_ = daeSafeCast<domLibrary_effects>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS));
effectsLib_->setId("effects");
materialsLib_ = daeSafeCast<domLibrary_materials>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS));
materialsLib_->setId("materials");
//articulatedSystemsLib_ = daeSafeCast<domLibrary_articulated_systems>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS));
//articulatedSystemsLib_->setId("articulated_systems");
}
virtual ~ColladaWriter() {
collada_.reset();
DAE::cleanup();
}
SCENE createScene() {
SCENE s;
// Create visual scene
s.vscene = daeSafeCast<domVisual_scene>(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE));
s.vscene->setId("vscene");
s.vscene->setName("URDF Visual Scene");
// Create instance visual scene
s.viscene = daeSafeCast<domInstance_with_extra>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE));
s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str());
// Create kinematics scene
s.kscene = daeSafeCast<domKinematics_scene>(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE));
s.kscene->setId("kscene");
s.kscene->setName("URDF Kinematics Scene");
// Create instance kinematics scene
s.kiscene = daeSafeCast<domInstance_kinematics_scene>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE));
s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str());
// Create physics scene
s.pscene = daeSafeCast<domPhysics_scene>(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE));
s.pscene->setId("pscene");
s.pscene->setName("URDF Physics Scene");
// Create instance physics scene
s.piscene = daeSafeCast<domInstance_with_extra>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE));
s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str());
return s;
}
virtual void handleError(daeString msg) {
cerr << "COLLADA error: " << msg << "\n";
}
virtual void handleWarning(daeString msg) {
cerr << "COLLADA warning: " << msg << "\n";
}
bool writeScene() {
SCENE scene = createScene();
setupPhysics(scene);
addGeometries();
addKinematics(scene);
addVisuals(scene);
addMaterials();
addBindings(scene);
collada_->writeAll();
return true;
}
void setupPhysics(SCENE scene) {
// <technique_common>
domPhysics_scene::domTechnique_commonRef common = daeSafeCast<domPhysics_scene::domTechnique_common>(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
{
// <gravity>0 0 0
domTargetable_float3Ref g = daeSafeCast<domTargetable_float3>(common->createAndPlace(COLLADA_ELEMENT_GRAVITY));
g->getValue().set3(0.0, 0.0, 0.0);
// </gravity>
}
// </technique_common>
}
void addGeometries() {
int link_num = 0;
for (map<string, boost::shared_ptr<urdf::Link> >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) {
boost::shared_ptr<urdf::Link> urdf_link = i->second;
if (urdf_link->visual == NULL || urdf_link->visual->geometry == NULL)
continue;
switch (urdf_link->visual->geometry->type) {
case urdf::Geometry::MESH: {
urdf::Mesh* urdf_mesh = (urdf::Mesh*) urdf_link->visual->geometry.get();
string filename = urdf_mesh->filename;
urdf::Vector3 scale = urdf_mesh->scale; // @todo use scale
// <geometry id="g1.link0.geom0">
domGeometryRef geometry = daeSafeCast<domGeometry>(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY));
string geometry_id = string("g1.link") + boost::lexical_cast<string>(link_num) + string(".geom0");
geometry->setId(geometry_id.c_str());
{
loadMesh(filename, geometry, geometry_id);
}
geometry_ids_[urdf_link->name] = geometry_id;
// </geometry>
link_num++;
break;
}
case urdf::Geometry::SPHERE: {
cerr << "Geometry type SPHERE of link " << urdf_link->name << " is unsupported" << endl;
break;
}
case urdf::Geometry::BOX: {
cerr << "Geometry type BOX of link " << urdf_link->name << " is unsupported" << endl;
break;
}
case urdf::Geometry::CYLINDER: {
cerr << "Geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << endl;
break;
}
default: {
cerr << "Geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << endl;
break;
}
}
}
}
void loadMesh(const string& filename, domGeometryRef geometry, const string& geometry_id) {
// Load the mesh
resource_retriever::MemoryResource resource;
resource_retriever::Retriever retriever;
try {
resource = retriever.get(filename.c_str());
}
catch (resource_retriever::Exception& e) {
cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl;
return;
}
// Try assimp first, then STLLoader
if (!loadMeshWithAssimp(resource, geometry, geometry_id))
if (!loadMeshWithSTLLoader(resource, geometry, geometry_id))
cerr << "*** Can't load " << filename << endl;
}
bool loadMeshWithAssimp(const resource_retriever::MemoryResource& resource, domGeometryRef geometry, const string& geometry_id) {
// Import the mesh using assimp
Assimp::Importer importer;
const aiScene* scene = importer.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */);
if (!scene)
return false;
buildMeshFromAssimp(scene, scene->mRootNode, geometry, geometry_id);
return true;
}
bool loadMeshWithSTLLoader(const resource_retriever::MemoryResource& resource, domGeometryRef geometry, const string& geometry_id) {
// Write the resource to a temporary file
char tmp_filename[] = "/tmp/collada_urdf_XXXXXX";
int fd = mkstemp(tmp_filename);
write(fd, resource.data.get(), resource.size);
close(fd);
// Import the mesh using STLLoader
STLLoader loader;
Mesh* stl_mesh = loader.load(string(tmp_filename));
buildMeshFromSTLLoader(stl_mesh, geometry, geometry_id);
delete stl_mesh;
// Delete the temporary file
unlink(tmp_filename);
return true;
}
void buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, const string& geometry_id) {
// <mesh>
domMeshRef mesh = daeSafeCast<domMesh>(parent->createAndPlace(COLLADA_ELEMENT_MESH));
{
unsigned int num_vertices = stl_mesh->vertices.size();
unsigned int num_indices = stl_mesh->indices.size();
unsigned int num_faces = num_indices / 3;
// <source id="g1.link0.geom0.positions">
domSourceRef positions_source = daeSafeCast<domSource>(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE));
positions_source->setId((geometry_id + string(".positions")).c_str());
{
// <float_array id="g1.link0.geom0.positions-array" count="4533" digits="6">
domFloat_arrayRef positions_array = daeSafeCast<domFloat_array>(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY));
positions_array->setId((geometry_id + string(".positions-array")).c_str());
positions_array->setCount(num_vertices * 3);
positions_array->setDigits(6); // 6 decimal places
positions_array->getValue().setCount(num_vertices * 3);
for (unsigned int j = 0; j < num_vertices; j++) {
positions_array->getValue()[j * 3 ] = stl_mesh->vertices[j].x;
positions_array->getValue()[j * 3 + 1] = stl_mesh->vertices[j].y;
positions_array->getValue()[j * 3 + 2] = stl_mesh->vertices[j].z;
}
// </float_array>
// <technique_common>
domSource::domTechnique_commonRef source_tech = daeSafeCast<domSource::domTechnique_common>(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
{
// <accessor count="4533" source="#g1.link0.geom0.positions-array" stride="3">
domAccessorRef accessor = daeSafeCast<domAccessor>(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR));
accessor->setCount(num_vertices / 3);
accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array")));
accessor->setStride(3);
{
// <param name="X" type="float"/>
// <param name="Y" type="float"/>
// <param name="Z" type="float"/>
domParamRef px = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float");
domParamRef py = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float");
domParamRef pz = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float");
}
// </accessor>
}
// </technique_common>
}
// <vertices id="vertices">
domVerticesRef vertices = daeSafeCast<domVertices>(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES));
string vertices_id = geometry_id + string(".vertices");
vertices->setId(vertices_id.c_str());
{
// <input semantic="POSITION" source="#g1.link0.geom0.positions"/>
domInput_localRef vertices_input = daeSafeCast<domInput_local>(vertices->createAndPlace(COLLADA_ELEMENT_INPUT));
vertices_input->setSemantic("POSITION");
vertices_input->setSource(domUrifragment(*positions_source, string("#") + string(positions_source->getId())));
}
// </vertices>
// <triangles count="1511" material="mat0">
domTrianglesRef triangles = daeSafeCast<domTriangles>(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES));
triangles->setCount(num_faces);
triangles->setMaterial("mat0");
{
// <input offset="0" semantic="VERTEX" source="#g1.link0.geom0/vertices" set="0"/>
domInput_local_offsetRef vertex_offset = daeSafeCast<domInput_local_offset>(triangles->createAndPlace(COLLADA_ELEMENT_INPUT));
vertex_offset->setSemantic("VERTEX");
vertex_offset->setOffset(0);
vertex_offset->setSource(domUrifragment(*positions_source, string("#") + vertices_id));
{
// <p>0 1 2 3 ...
domPRef indices = daeSafeCast<domP>(triangles->createAndPlace(COLLADA_ELEMENT_P));
indices->getValue().setCount(num_indices);
for (unsigned int i = 0; i < num_indices; i++)
indices->getValue()[i] = stl_mesh->indices[i];
// </p>
}
}
// </triangles>
}
// </mesh>
}
// EXPERIMENTAL: untested
void buildMeshFromAssimp(const aiScene* scene, aiNode* node, daeElementRef parent, const string& geometry_id) {
if (node == NULL)
return;
aiMatrix4x4 transform = node->mTransformation;
aiNode* pnode = node->mParent;
while (pnode) {
// Don't convert to y-up orientation, which is what the root node in Assimp does
if (pnode->mParent != NULL)
transform = pnode->mTransformation * transform;
pnode = pnode->mParent;
}
// <mesh>
domMeshRef mesh = daeSafeCast<domMesh>(parent->createAndPlace(COLLADA_ELEMENT_MESH));
{
for (unsigned int i = 0; i < node->mNumMeshes; i++) {
aiMesh* aMesh = scene->mMeshes[i];
// Add in the indices for each face
for (unsigned int j = 0; j < aMesh->mNumFaces; j++) {
aiFace* aFace = &(aMesh->mFaces[j]);
for (unsigned int k = 0; k < aFace->mNumIndices; k++) {
//int index = aFace->mIndices[k];
// @todo add index
//subMesh->AddIndex(aFace->mIndices[k]);
}
}
domSourceRef positions_source = daeSafeCast<domSource>(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE));
{
positions_source->setId((geometry_id + string(".positions")).c_str());
domFloat_arrayRef positions_array = daeSafeCast<domFloat_array>(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY));
positions_array->setId((geometry_id + string(".positions-array")).c_str());
positions_array->setCount(aMesh->mNumVertices);
positions_array->setDigits(6); // 6 decimal places
positions_array->getValue().setCount(3 * aMesh->mNumVertices);
for (unsigned int j = 0; j < aMesh->mNumVertices; j++) {
aiVector3D p;
p.x = aMesh->mVertices[j].x;
p.y = aMesh->mVertices[j].y;
p.z = aMesh->mVertices[j].z;
p *= transform;
positions_array->getValue()[j] = p.x;
positions_array->getValue()[j] = p.y;
positions_array->getValue()[j] = p.z;
/*
if (aMesh->HasNormals()) {
p.x = aMesh->mNormals[j].x;
p.y = aMesh->mNormals[j].y;
p.z = aMesh->mNormals[j].z;
}
// @todo add normal
//subMesh->AddNormal(p.x, p.y, p.z);
// @todo add tex coord
//if (aMesh->mNumUVComponents[0])
// subMesh->AddTexCoord(aMesh->mTextureCoords[0][j].x, 1.0 -aMesh->mTextureCoords[0][j].y);
//else
// subMesh->AddTexCoord(0,0);
*/
}
}
domTrianglesRef triangles = daeSafeCast<domTriangles>(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES));
{
triangles->setCount(aMesh->mNumFaces / 3);
}
}
for (unsigned int i = 0; i < node->mNumChildren; i++)
buildMeshFromAssimp(scene, node->mChildren[i], mesh, geometry_id);
}
}
void addJoints(daeElementRef parent) {
int joint_num = 0;
for (map<string, boost::shared_ptr<urdf::Joint> >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) {
boost::shared_ptr<urdf::Joint> urdf_joint = i->second;
// <joint name="base_laser_joint" sid="joint0">
domJointRef joint = daeSafeCast<domJoint>(parent->createAndPlace(COLLADA_ELEMENT_JOINT));
string joint_sid = string("joint") + boost::lexical_cast<string>(joint_num);
joint_num++;
joint->setName(urdf_joint->name.c_str());
joint->setSid(joint_sid.c_str());
joint_sids_[urdf_joint->name] = joint_sid;
double axis_x = urdf_joint->axis.x;
double axis_y = urdf_joint->axis.y;
double axis_z = urdf_joint->axis.z;
if (axis_x == 0.0 && axis_y == 0.0 && axis_z == 0.0) {
axis_x = 1.0;
axis_y = 0.0;
axis_z = 0.0;
}
// @hack: OpenRAVE appears to flip joint axes
axis_x *= -1.0;
axis_y *= -1.0;
axis_z *= -1.0;
switch (urdf_joint->type)
{
case urdf::Joint::REVOLUTE: {
// <revolute sid="axis0">
domAxis_constraintRef revolute = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE));
revolute->setSid("axis0");
{
// <axis>
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{
axis->getValue().setCount(3);
axis->getValue()[0] = axis_x;
axis->getValue()[1] = axis_y;
axis->getValue()[2] = axis_z;
}
// </axis>
// <limits>
domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(revolute->createAndPlace(COLLADA_TYPE_LIMITS));
{
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower);
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper);
}
// </limits>
}
// </revolute>
break;
}
case urdf::Joint::CONTINUOUS: {
// Model as a REVOLUTE joint without limits
// <revolute sid="axis0">
domAxis_constraintRef revolute = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE));
revolute->setSid("axis0");
{
// <axis>
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{
axis->getValue().setCount(3);
axis->getValue()[0] = axis_x;
axis->getValue()[1] = axis_y;
axis->getValue()[2] = axis_z;
}
// </axis>
}
// </revolute>
break;
}
case urdf::Joint::PRISMATIC: {
// <prismatic sid="axis0">
domAxis_constraintRef prismatic = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC));
prismatic->setSid("axis0");
{
// <axis>
domAxisRef axis = daeSafeCast<domAxis>(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS));
{
axis->getValue().setCount(3);
axis->getValue()[0] = axis_x;
axis->getValue()[1] = axis_y;
axis->getValue()[2] = axis_z;
}
// </axis>
// <limits>
domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(prismatic->createAndPlace(COLLADA_TYPE_LIMITS));
{
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower;
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper;
}
// </limits>
}
// </prismatic>
break;
}
case urdf::Joint::FIXED: {
// Model as a REVOLUTE joint with no leeway
domAxis_constraintRef revolute = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE));
revolute->setSid("axis0");
{
// <axis>
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{
axis->getValue().setCount(3);
axis->getValue()[0] = axis_x;
axis->getValue()[1] = axis_y;
axis->getValue()[2] = axis_z;
}
// </axis>
// <limits>
domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(revolute->createAndPlace(COLLADA_TYPE_LIMITS));
{
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0;
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0;
}
// </limits>
}
// </revolute>
break;
}
case urdf::Joint::UNKNOWN: {
cerr << "Joint type UNKNOWN of joint " << urdf_joint->name << " is unsupported" << endl;
break;
}
case urdf::Joint::FLOATING: {
cerr << "Joint type FLOATING of joint " << urdf_joint->name << " is unsupported" << endl;
break;
}
case urdf::Joint::PLANAR: {
cerr << "Joint type PLANAR of joint " << urdf_joint->name << " is unsupported" << endl;
break;
}
default: {
cerr << "Joint type " << urdf_joint->type << " of joint " << urdf_joint->name << " is unsupported" << endl;
break;
}
}
}
}
void addBindings(SCENE scene) {
string model_id = kmodel_->getID();
string inst_model_sid = string("inst_") + model_id;
// <bind_kinematics_scene>
// <bind_kinematics_model node="node0">
domBind_kinematics_modelRef kmodel_bind = daeSafeCast<domBind_kinematics_model>(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL));
kmodel_bind->setNode("v1.node0"); // @todo
daeSafeCast<domCommon_param>(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str());
for (map<string, boost::shared_ptr<urdf::Joint> >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) {
boost::shared_ptr<urdf::Joint> urdf_joint = i->second;
int idof = 0; // @todo assuming 1 dof joints
string joint_sid = joint_sids_[urdf_joint->name];
string axis_name = string("axis") + boost::lexical_cast<string>(idof);
string joint_axis_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name;
string joint_axis_value_sid = joint_axis_sid + string("_value");
// <bind_joint_axis target="node0/joint_1_axis0">
domBind_joint_axisRef joint_bind = daeSafeCast<domBind_joint_axis>(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS));
string node_name = node_ids_[urdf_joint->name];
joint_bind->setTarget((node_name + string("/node_") + joint_sid + string("_") + axis_name).c_str());
{
// <axis>
domCommon_sidref_or_paramRef axis_bind = daeSafeCast<domCommon_sidref_or_param>(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS));
{
daeSafeCast<domCommon_param>(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_sid.c_str());
}
// </axis>
// <value>
domCommon_float_or_paramRef value_bind = daeSafeCast<domCommon_float_or_param>(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE));
{
daeSafeCast<domCommon_param>(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_value_sid.c_str());
}
}
// </bind_joint_axis>
}
}
void addKinematics(SCENE scene) {
// <kinematics_model id="k1" name="pr2">
domKinematics_modelRef kmodel = daeSafeCast<domKinematics_model>(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL));
kmodel->setId("k1");
kmodel->setName(robot_->getName().c_str());
{
// <technique_common>
domKinematics_model_techniqueRef technique = daeSafeCast<domKinematics_model_technique>(kmodel->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
addJoints(technique);
// </technique_common>
// <link ...>
int link_num = 0;
addKinematicLink(robot_->getRoot(), technique, link_num);
// </link>
}
kmodel_ = kmodel;
// </kinematics_model>
string model_id = kmodel->getID();
string inst_model_sid = string("inst_") + model_id;
// <instance_kinematics_model url="#k1" sid="inst_k1">
domInstance_kinematics_modelRef ikm = daeSafeCast<domInstance_kinematics_model>(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL));
ikm->setUrl((string("#") + model_id).c_str());
ikm->setSid(inst_model_sid.c_str());
{
// <newparam sid="kscene.inst_k1">
domKinematics_newparamRef newparam_model = daeSafeCast<domKinematics_newparam>(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM));
string newparam_model_sid = string("kscene.inst_") + model_id;
newparam_model->setSid(newparam_model_sid.c_str());
{
// <SIDREF>kscene/inst_k1</SIDREF>
string model_sidref = string("kscene/inst_") + model_id;
daeSafeCast<domKinematics_newparam::domSIDREF>(newparam_model->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(model_sidref.c_str());
}
// </newparam>
for (map<string, boost::shared_ptr<urdf::Joint> >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) {
boost::shared_ptr<urdf::Joint> urdf_joint = i->second;
int idof = 0; // @todo assuming 1 dof joints
string joint_sid = joint_sids_[urdf_joint->name];
string axis_name = string("axis") + boost::lexical_cast<string>(idof);
// <newparam sid="kscene.inst_k1.joint0.axis0">
domKinematics_newparamRef newparam = daeSafeCast<domKinematics_newparam>(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM));
string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name;
newparam->setSid(newparam_sid.c_str());
{
// <SIDREF>kscene/inst_k1/joint0/axis0</SIDREF>
string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/") + axis_name;
daeSafeCast<domKinematics_newparam::domSIDREF>(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str());
}
// </newparam>
// <newparam sid="kscene.inst_k1.joint0.axis0_value">
domKinematics_newparamRef newparam_value = daeSafeCast<domKinematics_newparam>(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM));
string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name + string("_value");
newparam_value->setSid(newparam_value_sid.c_str());
{
// <float>0</float>
daeSafeCast<domKinematics_newparam::domFloat>(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f);
}
// </newparam>
}
}
// </instance_kinematics_model>
}
void addKinematicLink(boost::shared_ptr<const urdf::Link> urdf_link, daeElementRef parent, int& link_num) {
// <link sid="link0" name="base_link">
domLinkRef link = daeSafeCast<domLink>(parent->createAndPlace(COLLADA_ELEMENT_LINK));
string link_sid = string("link") + boost::lexical_cast<string>(link_num);
link->setName(urdf_link->name.c_str());
link->setSid(link_sid.c_str());
link_num++;
for (vector<boost::shared_ptr<urdf::Joint> >::const_iterator i = urdf_link->child_joints.begin(); i != urdf_link->child_joints.end(); i++) {
boost::shared_ptr<urdf::Joint> urdf_joint = *i;
// <attachment_full joint="k1/joint0">
domLink::domAttachment_fullRef attachment_full = daeSafeCast<domLink::domAttachment_full>(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL));
string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name];
attachment_full->setJoint(attachment_joint.c_str());
{
addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation);
addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position);
addKinematicLink(robot_->getLink(urdf_joint->child_link_name), attachment_full, link_num);
}
// </attachment_full>
}
// </link>
}
void addVisuals(SCENE scene) {
// <node id="v1" name="pr2">
domNodeRef root_node = daeSafeCast<domNode>(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE));
root_node->setId("v1");
root_node->setName(robot_->getName().c_str());
{
int link_num = 0;
addVisualLink(robot_->getRoot(), root_node, link_num);
}
}
void addMaterials() {
urdf::Color ambient, diffuse;
ambient.init("1 1 1 0");
diffuse.init("1 1 1 0");
for (map<string, boost::shared_ptr<urdf::Link> >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) {
boost::shared_ptr<urdf::Link> urdf_link = i->second;
map<string, string>::const_iterator j = geometry_ids_.find(urdf_link->name);
if (j != geometry_ids_.end()) {
string geometry_id = j->second;
domEffectRef effect = addEffect(geometry_id, ambient, diffuse);
// <material id="g1.link0.geom0.eff">
domMaterialRef material = daeSafeCast<domMaterial>(materialsLib_->createAndPlace(COLLADA_ELEMENT_MATERIAL));
string material_id = geometry_id + string(".mat");
material->setId(material_id.c_str());
{
// <instance_effect url="#g1.link0.geom0.eff"/>
domInstance_effectRef instance_effect = daeSafeCast<domInstance_effect>(material->createAndPlace(COLLADA_ELEMENT_INSTANCE_EFFECT));
string effect_id(effect->getId());
instance_effect->setUrl((string("#") + effect_id).c_str());
}
// </material>
}
}
}
domEffectRef addEffect(const string& geometry_id, const urdf::Color& color_ambient, const urdf::Color& color_diffuse)
{
// <effect id="g1.link0.geom0.eff">
domEffectRef effect = daeSafeCast<domEffect>(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT));
string effect_id = geometry_id + string(".eff");
effect->setId(effect_id.c_str());
{
// <profile_COMMON>
domProfile_commonRef profile = daeSafeCast<domProfile_common>(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON));
{
// <technique sid="">
domProfile_common::domTechniqueRef technique = daeSafeCast<domProfile_common::domTechnique>(profile->createAndPlace(COLLADA_ELEMENT_TECHNIQUE));
{
// <phong>
domProfile_common::domTechnique::domPhongRef phong = daeSafeCast<domProfile_common::domTechnique::domPhong>(technique->createAndPlace(COLLADA_ELEMENT_PHONG));
{
// <ambient>
domFx_common_color_or_textureRef ambient = daeSafeCast<domFx_common_color_or_texture>(phong->createAndPlace(COLLADA_ELEMENT_AMBIENT));
{
// <color>r g b a
domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast<domFx_common_color_or_texture::domColor>(ambient->createAndPlace(COLLADA_ELEMENT_COLOR));
ambient_color->getValue().setCount(4);
ambient_color->getValue()[0] = color_ambient.r;
ambient_color->getValue()[1] = color_ambient.g;
ambient_color->getValue()[2] = color_ambient.b;
ambient_color->getValue()[3] = color_ambient.a;
// </color>
}
// </ambient>
// <diffuse>
domFx_common_color_or_textureRef diffuse = daeSafeCast<domFx_common_color_or_texture>(phong->createAndPlace(COLLADA_ELEMENT_DIFFUSE));
{
// <color>r g b a
domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast<domFx_common_color_or_texture::domColor>(diffuse->createAndPlace(COLLADA_ELEMENT_COLOR));
diffuse_color->getValue().setCount(4);
diffuse_color->getValue()[0] = color_diffuse.r;
diffuse_color->getValue()[1] = color_diffuse.g;
diffuse_color->getValue()[2] = color_diffuse.b;
diffuse_color->getValue()[3] = color_diffuse.a;
// </color>
}
// </diffuse>
}
// </phong>
}
// </technique>
}
// </profile_COMMON>
}
// </effect>
return effect;
}
void addVisualLink(boost::shared_ptr<const urdf::Link> urdf_link, daeElementRef parent, int& link_num) {
// <node id="v1.node0" name="base_link" sid="node0">
domNodeRef node = daeSafeCast<domNode>(parent->createAndPlace(COLLADA_ELEMENT_NODE));
string node_sid = string("node") + boost::lexical_cast<string>(link_num);
string node_id = string("v1.") + node_sid;
node->setName(urdf_link->name.c_str());
node->setSid(node_sid.c_str());
node->setId(node_id.c_str());
link_num++;
{
if (urdf_link->parent_joint != NULL) {
// <rotate>x y z w</rotate>
addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation);
// <translate>x y z</translate>
addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position);
// <rotate sid="node_joint0_axis0">x y z angle</rotate>
domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation);
string joint_sid = joint_sids_[urdf_link->parent_joint->name];
string joint_rotate_sid = string("node_") + joint_sid + string("_axis0");
joint_rotate->setSid(joint_rotate_sid.c_str());
node_ids_[urdf_link->parent_joint->name] = node_id;
}
// <instance_geometry url="#g1.link0.geom">
map<string, string>::const_iterator i = geometry_ids_.find(urdf_link->name);
if (i != geometry_ids_.end()) {
domInstance_geometryRef instance_geometry = daeSafeCast<domInstance_geometry>(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
string geometry_id = i->second;
string instance_geometry_url = string("#") + geometry_id;
instance_geometry->setUrl(instance_geometry_url.c_str());
{
// <bind_material>
domBind_materialRef bind_material = daeSafeCast<domBind_material>(instance_geometry->createAndPlace(COLLADA_ELEMENT_BIND_MATERIAL));
{
// <technique_common>
domBind_material::domTechnique_commonRef technique_common = daeSafeCast<domBind_material::domTechnique_common>(bind_material->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
{
// <instance_material>
domInstance_materialRef instance_material = daeSafeCast<domInstance_material>(technique_common->createAndPlace(COLLADA_ELEMENT_INSTANCE_MATERIAL));
instance_material->setTarget((instance_geometry_url + string(".mat")).c_str());
instance_material->setSymbol("mat0");
// </instance_material>
}
// </technique_common>
}
// </bind_material>
}
}
// </instance_geometry>
// <node ...>
for (vector<boost::shared_ptr<urdf::Link> >::const_iterator i = urdf_link->child_links.begin(); i != urdf_link->child_links.end(); i++)
addVisualLink(*i, node, link_num);
// </node>
}
// </node>
}
domTranslateRef addTranslate(daeElementRef parent, const urdf::Vector3& position) {
// <translate>x y z</translate>
domTranslateRef trans = daeSafeCast<domTranslate>(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE));
trans->getValue().setCount(3);
trans->getValue()[0] = position.x;
trans->getValue()[1] = position.y;
trans->getValue()[2] = position.z;
return trans;
}
domRotateRef addRotate(daeElementRef parent, const urdf::Rotation& r) {
double ax, ay, az, aa;
// Convert from quaternion to axis-angle
double sqr_len = r.x * r.x + r.y * r.y + r.z * r.z;
if (sqr_len > 0) {
aa = 2 * acos(r.w);
double inv_len = 1.0 / sqrt(sqr_len);
ax = r.x * inv_len;
ay = r.y * inv_len;
az = r.z * inv_len;
}
else {
// Angle is 0 (mod 2*pi), so any axis will do
aa = 0.0;
ax = 1.0;
ay = 0.0;
az = 0.0;
}
// <rotate>x y z w</rotate>
domRotateRef rot = daeSafeCast<domRotate>(parent->createAndPlace(COLLADA_ELEMENT_ROTATE));
rot->getValue().setCount(4);
rot->getValue()[0] = ax;
rot->getValue()[1] = ay;
rot->getValue()[2] = az;
rot->getValue()[3] = angles::to_degrees(aa);
return rot;
}
};
}
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
@ -1003,7 +55,7 @@ int main(int argc, char** argv)
return -1; return -1;
} }
string output_filename(argv[2]); std::string output_filename(argv[2]);
collada_urdf::ColladaWriter* writer = new collada_urdf::ColladaWriter(output_filename, &robot); collada_urdf::ColladaWriter* writer = new collada_urdf::ColladaWriter(output_filename, &robot);
writer->writeScene(); writer->writeScene();