93 lines
3.1 KiB
C++
93 lines
3.1 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 "collada_urdf/collada_writer.h"
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using std::string;
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using boost::shared_ptr;
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namespace collada_urdf {
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ColladaUrdfException::ColladaUrdfException(std::string const& what)
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: std::runtime_error(what)
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{
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}
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bool colladaFromUrdfFile(string const& file, shared_ptr<DAE>& dom) {
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TiXmlDocument urdf_xml;
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if (!urdf_xml.LoadFile(file)) {
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ROS_ERROR("Could not load XML file");
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return false;
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}
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return colladaFromUrdfXml(&urdf_xml, dom);
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}
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bool colladaFromUrdfString(string const& xml, shared_ptr<DAE>& dom) {
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TiXmlDocument urdf_xml;
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if (urdf_xml.Parse(xml.c_str()) == 0) {
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ROS_ERROR("Could not parse XML document");
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return false;
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}
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return colladaFromUrdfXml(&urdf_xml, dom);
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}
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bool colladaFromUrdfXml(TiXmlDocument* xml_doc, shared_ptr<DAE>& dom) {
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urdf::Model robot_model;
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if (!robot_model.initXml(xml_doc)) {
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ROS_ERROR("Could not generate robot model");
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return false;
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}
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return colladaFromUrdfModel(robot_model, dom);
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}
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bool colladaFromUrdfModel(urdf::Model const& robot_model, shared_ptr<DAE>& dom) {
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ColladaWriter writer(robot_model);
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dom = writer.convert();
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return dom != shared_ptr<DAE>();
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}
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bool colladaToFile(shared_ptr<DAE> dom, string const& file) {
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daeString uri = dom->getDoc(0)->getDocumentURI()->getURI();
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return dom->writeTo(uri, file);
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}
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}
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