68 lines
2.6 KiB
C++
68 lines
2.6 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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/* Author: Tim Field */
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#include "collada_urdf/collada_urdf.h"
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#include <ros/ros.h>
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int main(int argc, char** argv)
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{
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if (argc != 3) {
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std::cerr << "Usage: urdf_to_collada input.urdf output.dae" << std::endl;
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return -1;
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}
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ros::init(argc, argv, "urdf_to_collada");
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std::string input_filename(argv[1]);
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std::string output_filename(argv[2]);
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urdf::Model robot_model;
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if( !robot_model.initFile(input_filename) ) {
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ROS_ERROR("failed to open urdf file %s",input_filename.c_str());
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}
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boost::shared_ptr<DAE> dom;
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if (!collada_urdf::colladaFromUrdfModel(robot_model, dom)) {
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std::cerr << std::endl << "Error converting document" << std::endl;
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return -1;
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}
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collada_urdf::colladaToFile(dom, output_filename);
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std::cout << std::endl << "Document successfully written to " << output_filename << std::endl;
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return 0;
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}
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