91 lines
3.4 KiB
C++
91 lines
3.4 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redstributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Authors: Tim Field */
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#ifndef COLLADA_URDF_COLLADA_URDF_H
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#define COLLADA_URDF_COLLADA_URDF_H
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#include <string>
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#include <boost/shared_ptr.hpp>
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#include <dae.h>
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#include "urdf/model.h"
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namespace collada_urdf {
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class ColladaUrdfException : public std::runtime_error
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{
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public:
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ColladaUrdfException(std::string const& what);
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};
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/** Construct a COLLADA DOM from an URDF file
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* \param file The filename from where to read the URDF
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* \param dom The resulting COLLADA DOM
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* \return true on success, false on failure
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*/
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bool colladaFromUrdfFile(std::string const& file, boost::shared_ptr<DAE>& dom);
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/** Construct a COLLADA DOM from a string containing URDF
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* \param xml A string containing the XML description of the robot
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* \param dom The resulting COLLADA DOM
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* \return true on success, false on failure
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*/
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bool colladaFromUrdfString(std::string const& xml, boost::shared_ptr<DAE>& dom);
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/** Construct a COLLADA DOM from a TiXmlDocument containing URDF
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* \param xml_doc The TiXmlDocument containing URDF
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* \param dom The resulting COLLADA DOM
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* \return true on success, false on failure
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*/
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bool colladaFromUrdfXml(TiXmlDocument* xml_doc, boost::shared_ptr<DAE>& dom);
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/** Construct a COLLADA DOM from a URDF robot model
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* \param robot_model The URDF robot model
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* \param dom The resulting COLLADA DOM
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* \return true on success, false on failure
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*/
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bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr<DAE>& dom);
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/** Write a COLLADA DOM to a file
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* \param dom COLLADA DOM to write
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* \param file The filename to write the document to
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* \return true on success, false on failure
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*/
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bool colladaToFile(boost::shared_ptr<DAE> dom, std::string const& file);
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}
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#endif
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