From fcc7c835af0a5001a644dc45739f4fae492fb03f Mon Sep 17 00:00:00 2001
From: tfield <devnull@localhost>
Date: Sat, 24 Apr 2010 00:10:18 +0000
Subject: [PATCH] collada_urdf: incorporating review changes

---
 collada_urdf/CMakeLists.txt               |  4 ++--
 collada_urdf/src/urdf_to_collada.cpp      | 18 +++++++++---------
 collada_urdf/test/test_collada_writer.cpp |  7 ++++---
 3 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 40bfa84..dd21f38 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -3,6 +3,6 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 set(ROS_BUILD_TYPE Debug)
 rosbuild_init()
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/ColladaWriter.cpp src/STLLoader.cpp)
+rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/collada_writer.cpp src/stl_loader.cpp)
 
-rosbuild_add_gtest(test_collada_writer test/test_collada_writer.cpp src/ColladaWriter.cpp src/STLLoader.cpp)
+rosbuild_add_gtest(test_collada_writer test/test_collada_writer.cpp src/collada_writer.cpp src/stl_loader.cpp)
diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp
index b390d0f..e527f7b 100644
--- a/collada_urdf/src/urdf_to_collada.cpp
+++ b/collada_urdf/src/urdf_to_collada.cpp
@@ -32,7 +32,7 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-#include "collada_urdf/ColladaWriter.h"
+#include "collada_urdf/collada_writer.h"
 
 int main(int argc, char** argv)
 {
@@ -41,17 +41,17 @@ int main(int argc, char** argv)
         return -1;
     }
 
-    try
-    {
-        collada_urdf::ColladaWriter writer(argv[1]);
-        writer.writeDocument(argv[2]);
-    }
-    catch (collada_urdf::ColladaWriterException ex) {
-        std::cerr << std::endl << "Error converting document: " << ex.what() << std::endl;
+    std::string input_filename(argv[1]);
+    std::string output_filename(argv[2]);
+
+    boost::shared_ptr<DAE> dom;
+    if (!collada_urdf::colladaFromFile(input_filename, dom)) {
+        std::cerr << std::endl << "Error converting document" << std::endl;
         return -1;
     }
 
-    std::cout << std::endl << "Document successfully written to " << argv[2] << std::endl;
+    dom->write("/u/tfield/test.dae");
+    std::cout << std::endl << "Document successfully written to " << output_filename << std::endl;
 
     return 0;
 }
diff --git a/collada_urdf/test/test_collada_writer.cpp b/collada_urdf/test/test_collada_writer.cpp
index 0f427e8..a69fa79 100644
--- a/collada_urdf/test/test_collada_writer.cpp
+++ b/collada_urdf/test/test_collada_writer.cpp
@@ -25,14 +25,15 @@
 // 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/collada_writer.h"
 
 #include <gtest/gtest.h>
 
-TEST(collada_urdf, collada_writer_writes)
+TEST(collada_urdf, collada_from_file_works)
 {
     // An exception will be thrown on any error opening the URDF or writing the COLLADA file
-    collada_urdf::ColladaWriter("test/pr2.urdf").writeDocument("test/pr2.dae");
+    boost::shared_ptr<DAE> dom;
+    ASSERT_TRUE(collada_urdf::colladaFromFile("test/pr2.urdf", dom));
 }
 
 int main(int argc, char **argv) {