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kdl_parser
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collada_urdf: asset tag now writes correct create/modified dates and includes source

This commit is contained in:
tfield 2010-04-23 21:01:11 +00:00
parent 5b33005a0b
commit da0af98c43
4 changed files with 52 additions and 17 deletions
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14
collada_urdf/include/collada_urdf/ColladaWriter.h
View File

@ -53,6 +53,12 @@
namespace collada_urdf {
class ColladaWriterException : public std::runtime_error
{
public:
ColladaWriterException(std::string const& what) : std::runtime_error(what) { }
};
class Mesh;
class ColladaWriter : public daeErrorHandler
@ -70,9 +76,10 @@ private:
public:
/**
* \brief Create a ColladaWriter using the specified URDF robot model.
* \brief Create a ColladaWriter using the specified URDF robot model and a source string,
* e.g. the name of the file the URDF was read from.
*/
ColladaWriter(urdf::Model* robot);
ColladaWriter(urdf::Model* robot, std::string const& source);
virtual ~ColladaWriter();
@ -114,8 +121,11 @@ private:
domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position);
domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r);
std::string getTimeStampString() const;
private:
urdf::Model* robot_;
std::string source_;
boost::shared_ptr<DAE> collada_;
domCOLLADA* dom_;

46
collada_urdf/src/ColladaWriter.cpp
View File

@ -36,6 +36,8 @@
#include "collada_urdf/STLLoader.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/date_time/posix_time/posix_time_io.hpp>
#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH
@ -47,7 +49,10 @@ using boost::shared_ptr;
namespace collada_urdf {
ColladaWriter::ColladaWriter(urdf::Model* robot) : robot_(robot) { }
ColladaWriter::ColladaWriter(urdf::Model* robot, string const& source)
: robot_(robot), source_(source)
{
}
bool ColladaWriter::writeDocument(string const& documentName) {
initDocument(documentName);
@ -76,10 +81,7 @@ void ColladaWriter::initDocument(string const& documentName) {
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;
}
throw ColladaWriterException("Failed to create document");
dom_ = daeSafeCast<domCOLLADA>(doc->getDomRoot());
dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML");
@ -87,15 +89,21 @@ void ColladaWriter::initDocument(string const& documentName) {
// Create the required asset tag
domAssetRef asset = daeSafeCast<domAsset>(dom_->createAndPlace(COLLADA_ELEMENT_ASSET));
{
string date = getTimeStampString();
domAsset::domCreatedRef created = daeSafeCast<domAsset::domCreated>(asset->createAndPlace(COLLADA_ELEMENT_CREATED));
created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date
created->setValue(date.c_str());
domAsset::domModifiedRef modified = daeSafeCast<domAsset::domModified>(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED));
modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date
modified->setValue(date.c_str());
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::domContributor::domSource_dataRef sourcedata = daeSafeCast<domAsset::domContributor::domSource_data>(contrib->createAndPlace(COLLADA_ELEMENT_SOURCE_DATA));
sourcedata->setValue(source_.c_str());
domAsset::domUnitRef units = daeSafeCast<domAsset::domUnit>(asset->createAndPlace(COLLADA_ELEMENT_UNIT));
units->setMeter(1);
units->setName("meter");
@ -217,19 +225,19 @@ void ColladaWriter::addGeometries() {
break;
}
case urdf::Geometry::SPHERE: {
std::cerr << "Warning: geometry type SPHERE of link " << urdf_link->name << " is unsupported" << std::endl;
std::cerr << "Warning: geometry type SPHERE of link " << urdf_link->name << " not exported" << std::endl;
break;
}
case urdf::Geometry::BOX: {
std::cerr << "Warning: geometry type BOX of link " << urdf_link->name << " is unsupported" << std::endl;
std::cerr << "Warning: geometry type BOX of link " << urdf_link->name << " not exported" << std::endl;
break;
}
case urdf::Geometry::CYLINDER: {
std::cerr << "Warning: geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << std::endl;
std::cerr << "Warning: geometry type CYLINDER of link " << urdf_link->name << " not exported" << std::endl;
break;
}
default: {
std::cerr << "Warning: geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << std::endl;
std::cerr << "Warning: geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " not exported" << std::endl;
break;
}
}
@ -833,4 +841,20 @@ domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const
return rot;
}
string ColladaWriter::getTimeStampString() const {
//"2009-04-06T17:01:00.891550"
// facet becomes owned by locale, so no need to explicitly delete
boost::posix_time::time_facet* facet = new boost::posix_time::time_facet("%Y-%m-%dT%H:%M:%s");
std::stringstream ss(std::stringstream::in | std::stringstream::out);
ss.imbue(std::locale(ss.getloc(), facet));
ss << boost::posix_time::second_clock::local_time();
string date;
ss >> date;
return date;
}
}

7
collada_urdf/src/STLLoader.cpp
View File

@ -32,12 +32,13 @@
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#include <iostream>
#include <string.h>
#include "collada_urdf/STLLoader.h"
#include <ctype.h>
#include <stdio.h>
#include <string.h>
#include "collada_urdf/STLLoader.h"
#include <iostream>
using std::string;
using boost::shared_ptr;

2
collada_urdf/src/urdf_to_collada.cpp
View File

@ -62,7 +62,7 @@ int main(int argc, char** argv)
return -1;
}
collada_urdf::ColladaWriter writer(&robot);
collada_urdf::ColladaWriter writer(&robot, input_filename);
if (!writer.writeDocument(output_filename)) {
std::cerr << "Error writing document" << std::endl;
return -1;