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  /* Author: Wim Meeussen */
  
  #include "urdf_parser/urdf_parser.h"
  #include <iostream>
  #include <fstream>
  
  using namespace urdf;
  using namespace std;
  
  void addChildLinkNames(boost::shared_ptr<const Link> link, ofstream& os)
  {
    os << "\"" << link->name << "\" [label=\"" << link->name << "\"];" << endl;
    for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
      addChildLinkNames(*child, os);
  }
  
  void addChildJointNames(boost::shared_ptr<const Link> link, ofstream& os)
  {
    double r, p, y;
    for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
      // use blue for fixed joint and green for not-fixed joints
      if( (*child)->parent_joint->type != Joint::FIXED  ) {
        os << "\"" << (*child)->parent_joint->name << "\" [color=green, fontcolor=green];"  << endl;
      }
  
      (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y);
      os << "\"" << link->name << "\" -> \"" << (*child)->parent_joint->name 
         << "\" [label=\"xyz: "
         << (*child)->parent_joint->parent_to_joint_origin_transform.position.x << " " 
         << (*child)->parent_joint->parent_to_joint_origin_transform.position.y << " " 
         << (*child)->parent_joint->parent_to_joint_origin_transform.position.z << " " 
         << "\\nrpy: " << r << " " << p << " " << y << "\"]" << endl;
      os << "\"" << (*child)->parent_joint->name << "\" -> \"" << (*child)->name << "\"" << endl;
      addChildJointNames(*child, os);
    }
  }
  
  
  void printTree(boost::shared_ptr<const Link> link, string file)
  {
    std::ofstream os;
    os.open(file.c_str());
    os << "digraph G {" << endl;
  
    os << "node [shape=box];" << endl;
    addChildLinkNames(link, os);
  
    os << "node [shape=ellipse, color=blue, fontcolor=blue];" << endl;
    addChildJointNames(link, os);
  
    os << "}" << endl;
    os.close();
  }
  
  
  
  int main(int argc, char** argv)
  {
    if (argc != 2){
      std::cerr << "Usage: urdf_to_graphiz input.xml" << std::endl;
      return -1;
    }
  
    // get the entire file
    std::string xml_string;
    std::fstream xml_file(argv[1], std::fstream::in);
    while ( xml_file.good() )
    {
      std::string line;
      std::getline( xml_file, line);
      xml_string += (line + "\n");
    }
    xml_file.close();
  
    boost::shared_ptr<ModelInterface> robot = parseURDF(xml_string);
    if (!robot){
      std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
      return -1;
    }
    string output = robot->getName();
  
    // print entire tree to file
    printTree(robot->getRoot(), output+".gv");
    cout << "Created file " << output << ".gv" << endl;
  
    string command = "dot -Tpdf "+output+".gv  -o "+output+".pdf";
    if (system(command.c_str()) != -1)
      cout << "Created file " << output << ".pdf" << endl;
    else
      cout << "There was an error executing '" << command << "'" << endl;
    return 0;
  }
  
  