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kdl_parser
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collada_urdf: urdf_to_collada catches exceptions

This commit is contained in:
tfield 2010-04-23 22:14:56 +00:00
parent 138cff4f75
commit da358799d0
2 changed files with 11 additions and 25 deletions
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4
collada_urdf/src/ColladaWriter.cpp
View File

@ -54,11 +54,11 @@ ColladaWriter::ColladaWriter(std::string const& filename)
{ {
TiXmlDocument xml; TiXmlDocument xml;
if (!xml.LoadFile(filename.c_str())) if (!xml.LoadFile(filename.c_str()))
throw ColladaWriterException("Error opening file"); throw ColladaWriterException("Error reading XML file");
TiXmlElement* robot_xml = xml.FirstChildElement("robot"); TiXmlElement* robot_xml = xml.FirstChildElement("robot");
if (!robot_xml) if (!robot_xml)
throw ColladaWriterException("Error parsing URDF model from XML"); throw ColladaWriterException("Error parsing URDF model from XML (robot element not found)");
robot_ = shared_ptr<urdf::Model>(new urdf::Model); robot_ = shared_ptr<urdf::Model>(new urdf::Model);
if (!robot_->initXml(robot_xml)) if (!robot_->initXml(robot_xml))

32
collada_urdf/src/urdf_to_collada.cpp
View File

@ -41,30 +41,16 @@ int main(int argc, char** argv)
return -1; return -1;
} }
std::string input_filename(argv[1]); try
std::string output_filename(argv[2]); {
collada_urdf::ColladaWriter writer(argv[1]);
TiXmlDocument robot_model_xml; if (!writer.writeDocument(argv[2])) {
if (!robot_model_xml.LoadFile(input_filename.c_str())) { std::cerr << "Error writing document" << std::endl;
std::cerr << "Error opening file " << argv[1] << std::endl; return -1;
return -1; }
} }
catch (collada_urdf::ColladaWriterException ex) {
TiXmlElement* robot_xml = robot_model_xml.FirstChildElement("robot"); std::cerr << "Error converting document: " << ex.what() << std::endl;
if (!robot_xml) {
std::cerr << "Error parsing URDF model from XML" << std::endl;
return -1;
}
boost::shared_ptr<urdf::Model> robot(new urdf::Model);
if (!robot->initXml(robot_xml)) {
std::cerr << "Error parsing URDF model from XML" << std::endl;
return -1;
}
collada_urdf::ColladaWriter writer(robot, input_filename);
if (!writer.writeDocument(output_filename)) {
std::cerr << "Error writing document" << std::endl;
return -1; return -1;
} }