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/* Authors: Tim Field */

#ifndef COLLADA_URDF_COLLADA_URDF_H
#define COLLADA_URDF_COLLADA_URDF_H

#include <string>
#include <boost/shared_ptr.hpp>
#include <dae.h>
#include "urdf/model.h"

namespace collada_urdf {

class ColladaUrdfException : public std::runtime_error
{
public:
    ColladaUrdfException(std::string const& what);
};

/** Write a COLLADA DOM to a file
 * \param robot_model The URDF robot model
 * \param file The filename to write the document to
 * \return true on success, false on failure
 */
bool WriteUrdfModelToColladaFile(urdf::Model const& robot_model, std::string const& file);

}

#endif
