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kdl_parser
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collada_urdf: incorporating review changes

This commit is contained in:
tfield 2010-04-24 00:10:18 +00:00
parent e5fc479762
commit fcc7c835af
3 changed files with 15 additions and 14 deletions
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4
collada_urdf/CMakeLists.txt
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@ -3,6 +3,6 @@ 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/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)

18
collada_urdf/src/urdf_to_collada.cpp
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@ -32,7 +32,7 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/ *********************************************************************/
#include "collada_urdf/ColladaWriter.h" #include "collada_urdf/collada_writer.h"
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
@ -41,17 +41,17 @@ int main(int argc, char** argv)
return -1; return -1;
} }
try std::string input_filename(argv[1]);
{ std::string output_filename(argv[2]);
collada_urdf::ColladaWriter writer(argv[1]);
writer.writeDocument(argv[2]); boost::shared_ptr<DAE> dom;
} if (!collada_urdf::colladaFromFile(input_filename, dom)) {
catch (collada_urdf::ColladaWriterException ex) { std::cerr << std::endl << "Error converting document" << std::endl;
std::cerr << std::endl << "Error converting document: " << ex.what() << std::endl;
return -1; 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; return 0;
} }

7
collada_urdf/test/test_collada_writer.cpp
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@ -25,14 +25,15 @@
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE. // POSSIBILITY OF SUCH DAMAGE.
#include "collada_urdf/ColladaWriter.h" #include "collada_urdf/collada_writer.h"
#include <gtest/gtest.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 // 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) { int main(int argc, char **argv) {