Rename trajopt_utils to trajopt_common

tesseract-robotics · Jun 30, 2023 · 052cca8 · 052cca8
1 parent eb9f0b7
commit 052cca8
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Showing 175 changed files with 499 additions and 497 deletions.
diff --git a/.run-cpack b/.run-cpack
@@ -20,7 +20,7 @@ echo "   artifact_dir: $artifact_dir"
 echo "   artifact_ext: $artifact_ext"
 echo "   build_dir: $build_dir"
 
-declare -a StringArray=("osqp" "OsqpEigen" "trajopt_utils" "vhacd" "trajopt_sco" "trajopt" "trajopt_sqp" "trajopt_ifopt")
+declare -a StringArray=("osqp" "OsqpEigen" "trajopt_common" "vhacd" "trajopt_sco" "trajopt" "trajopt_sqp" "trajopt_ifopt")
 
 # Iterate the packages using for loop
 for val in ${StringArray[@]}; do

diff --git a/trajopt/CMakeLists.txt b/trajopt/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED)
 find_package(console_bridge REQUIRED)
 find_package(trajopt_sco REQUIRED)
-find_package(trajopt_utils REQUIRED)
+find_package(trajopt_common REQUIRED)
 find_package(tesseract_common REQUIRED)
 find_package(tesseract_environment REQUIRED)
 find_package(tesseract_visualization REQUIRED)
@@ -56,7 +56,7 @@ add_library(${PROJECT_NAME} ${TRAJOPT_SOURCE_FILES})
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC trajopt::trajopt_sco
-         trajopt::trajopt_utils
+         trajopt::trajopt_common
          tesseract::tesseract_common
          tesseract::tesseract_environment
          tesseract::tesseract_visualization

diff --git a/trajopt/cmake/trajopt-config.cmake.in b/trajopt/cmake/trajopt-config.cmake.in
@@ -13,7 +13,7 @@ else()
 endif()
 find_dependency(console_bridge)
 find_dependency(trajopt_sco)
-find_dependency(trajopt_utils)
+find_dependency(trajopt_common)
 find_dependency(tesseract_environment)
 find_dependency(tesseract_visualization)
 if(NOT TARGET JsonCpp::JsonCpp)

diff --git a/trajopt/include/trajopt/collision_terms.hpp b/trajopt/include/trajopt/collision_terms.hpp
@@ -5,7 +5,7 @@
 #include <trajopt/cache.hxx>
 #include <trajopt/common.hpp>
 #include <trajopt_sco/modeling.hpp>
-#include <trajopt_utils/utils.hpp>
+#include <trajopt_common/utils.hpp>
 
 namespace trajopt
 {
@@ -92,7 +92,7 @@ struct CollisionEvaluator
   // NOLINTNEXTLINE
   CollisionEvaluator(tesseract_kinematics::JointGroup::ConstPtr manip,
                      tesseract_environment::Environment::ConstPtr env,
-                     util::SafetyMarginData::ConstPtr safety_margin_data,
+                     trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                      tesseract_collision::ContactTestType contact_test_type,
                      double longest_valid_segment_length,
                      double safety_margin_buffer,
@@ -208,7 +208,7 @@ struct CollisionEvaluator
    * @brief Get the safety margin information.
    * @return Safety margin information
    */
-  util::SafetyMarginData::ConstPtr getSafetyMarginData() const { return safety_margin_data_; }
+  trajopt_common::SafetyMarginData::ConstPtr getSafetyMarginData() const { return safety_margin_data_; }
 
   /** @brief The collision results cached results */
 
@@ -220,7 +220,7 @@ struct CollisionEvaluator
   std::vector<std::string> env_active_link_names_;
   std::vector<std::string> manip_active_link_names_;
   std::vector<std::string> diff_active_link_names_;
-  util::SafetyMarginData::ConstPtr safety_margin_data_;
+  trajopt_common::SafetyMarginData::ConstPtr safety_margin_data_;
   double safety_margin_buffer_{ 0 };
   tesseract_collision::ContactTestType contact_test_type_{ tesseract_collision::ContactTestType::ALL };
   double longest_valid_segment_length_{ 0.05 };
@@ -366,7 +366,7 @@ struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
 
   SingleTimestepCollisionEvaluator(tesseract_kinematics::JointGroup::ConstPtr manip,
                                    tesseract_environment::Environment::ConstPtr env,
-                                   util::SafetyMarginData::ConstPtr safety_margin_data,
+                                   trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                                    tesseract_collision::ContactTestType contact_test_type,
                                    sco::VarVector vars,
                                    CollisionExpressionEvaluatorType type,
@@ -410,7 +410,7 @@ struct CastCollisionEvaluator : public CollisionEvaluator
 
   CastCollisionEvaluator(tesseract_kinematics::JointGroup::ConstPtr manip,
                          tesseract_environment::Environment::ConstPtr env,
-                         util::SafetyMarginData::ConstPtr safety_margin_data,
+                         trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                          tesseract_collision::ContactTestType contact_test_type,
                          double longest_valid_segment_length,
                          sco::VarVector vars0,
@@ -431,7 +431,7 @@ struct CastCollisionEvaluator : public CollisionEvaluator
                       const Eigen::Ref<const Eigen::VectorXd>& dof_vals1,
                       tesseract_collision::ContactResultMap& dist_results);
   void Plot(const tesseract_visualization::Visualization::Ptr& plotter, const DblVec& x) override;
-  sco::VarVector GetVars() override { return util::concat(vars0_, vars1_); }
+  sco::VarVector GetVars() override { return trajopt_common::concat(vars0_, vars1_); }
 
 private:
   tesseract_collision::ContinuousContactManager::Ptr contact_manager_;
@@ -450,7 +450,7 @@ struct DiscreteCollisionEvaluator : public CollisionEvaluator
 
   DiscreteCollisionEvaluator(tesseract_kinematics::JointGroup::ConstPtr manip,
                              tesseract_environment::Environment::ConstPtr env,
-                             util::SafetyMarginData::ConstPtr safety_margin_data,
+                             trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                              tesseract_collision::ContactTestType contact_test_type,
                              double longest_valid_segment_length,
                              sco::VarVector vars0,
@@ -471,7 +471,7 @@ struct DiscreteCollisionEvaluator : public CollisionEvaluator
                       const Eigen::Ref<const Eigen::VectorXd>& dof_vals1,
                       tesseract_collision::ContactResultMap& dist_results);
   void Plot(const tesseract_visualization::Visualization::Ptr& plotter, const DblVec& x) override;
-  sco::VarVector GetVars() override { return util::concat(vars0_, vars1_); }
+  sco::VarVector GetVars() override { return trajopt_common::concat(vars0_, vars1_); }
 
 private:
   tesseract_collision::DiscreteContactManager::Ptr contact_manager_;
@@ -484,15 +484,15 @@ class CollisionCost : public sco::Cost, public Plotter
   /* constructor for single timestep */
   CollisionCost(tesseract_kinematics::JointGroup::ConstPtr manip,
                 tesseract_environment::Environment::ConstPtr env,
-                util::SafetyMarginData::ConstPtr safety_margin_data,
+                trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                 tesseract_collision::ContactTestType contact_test_type,
                 sco::VarVector vars,
                 CollisionExpressionEvaluatorType type,
                 double safety_margin_buffer);
   /* constructor for discrete continuous and cast continuous cost */
   CollisionCost(tesseract_kinematics::JointGroup::ConstPtr manip,
                 tesseract_environment::Environment::ConstPtr env,
-                util::SafetyMarginData::ConstPtr safety_margin_data,
+                trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                 tesseract_collision::ContactTestType contact_test_type,
                 double longest_valid_segment_length,
                 sco::VarVector vars0,
@@ -515,15 +515,15 @@ class CollisionConstraint : public sco::IneqConstraint
   /* constructor for single timestep */
   CollisionConstraint(tesseract_kinematics::JointGroup::ConstPtr manip,
                       tesseract_environment::Environment::ConstPtr env,
-                      util::SafetyMarginData::ConstPtr safety_margin_data,
+                      trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                       tesseract_collision::ContactTestType contact_test_type,
                       sco::VarVector vars,
                       CollisionExpressionEvaluatorType type,
                       double safety_margin_buffer);
   /* constructor for discrete continuous and cast continuous cost */
   CollisionConstraint(tesseract_kinematics::JointGroup::ConstPtr manip,
                       tesseract_environment::Environment::ConstPtr env,
-                      util::SafetyMarginData::ConstPtr safety_margin_data,
+                      trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                       tesseract_collision::ContactTestType contact_test_type,
                       double longest_valid_segment_length,
                       sco::VarVector vars0,

diff --git a/trajopt/include/trajopt/json_marshal.hpp b/trajopt/include/trajopt/json_marshal.hpp
@@ -1,5 +1,5 @@
 #pragma once
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <Eigen/Eigen>
 #include <boost/format.hpp>

diff --git a/trajopt/include/trajopt/kinematic_terms.hpp b/trajopt/include/trajopt/kinematic_terms.hpp
@@ -1,5 +1,5 @@
 #pragma once
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
 

diff --git a/trajopt/include/trajopt/problem_description.hpp b/trajopt/include/trajopt/problem_description.hpp
@@ -1,13 +1,13 @@
 #pragma once
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <unordered_map>
 TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <tesseract_environment/environment.h>
 #include <trajopt/common.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include <trajopt_utils/utils.hpp>
+#include <trajopt_common/utils.hpp>
 
 namespace sco
 {
@@ -587,7 +587,7 @@ struct CollisionTermInfo : public TermInfo
 
   /** @brief Contains distance penalization data: Safety Margin, Coeff used during */
   /** @brief optimization, etc. */
-  std::vector<util::SafetyMarginData::Ptr> info;
+  std::vector<trajopt_common::SafetyMarginData::Ptr> info;
 
   /** @brief Used to add term to pci from json */
   void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;

diff --git a/trajopt/include/trajopt/trajectory_costs.hpp b/trajopt/include/trajopt/trajectory_costs.hpp
@@ -6,7 +6,7 @@ Simple quadratic costs on trajectory
 
 #include <trajopt/common.hpp>
 #include <trajopt_sco/modeling.hpp>
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 
 namespace trajopt
 {

diff --git a/trajopt/include/trajopt/typedefs.hpp b/trajopt/include/trajopt/typedefs.hpp
@@ -1,5 +1,5 @@
 #pragma once
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
 #include <map>
@@ -10,13 +10,13 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt_sco/modeling.hpp>
 #include <trajopt_sco/modeling_utils.hpp>
-#include <trajopt_utils/basic_array.hpp>
+#include <trajopt_common/basic_array.hpp>
 
 namespace trajopt
 {
-using VarArray = util::BasicArray<sco::Var>;
-using AffArray = util::BasicArray<sco::AffExpr>;
-using CntArray = util::BasicArray<sco::Cnt>;
+using VarArray = trajopt_common::BasicArray<sco::Var>;
+using AffArray = trajopt_common::BasicArray<sco::AffExpr>;
+using CntArray = trajopt_common::BasicArray<sco::Cnt>;
 using TrajArray = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
 using DblVec = sco::DblVec;
 using IntVec = sco::IntVec;

diff --git a/trajopt/include/trajopt/utils.hpp b/trajopt/include/trajopt/utils.hpp
@@ -1,5 +1,5 @@
 #pragma once
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <unordered_map>
 #include <Eigen/Geometry>

diff --git a/trajopt/package.xml b/trajopt/package.xml
@@ -21,7 +21,7 @@
   <depend>tesseract_environment</depend>
   <depend>tesseract_visualization</depend>
   <depend>trajopt_sco</depend>
-  <depend>trajopt_utils</depend>
+  <depend>trajopt_common</depend>
   <depend>boost</depend>
 
   <test_depend>benchmark</test_depend>

diff --git a/trajopt/src/collision_terms.cpp b/trajopt/src/collision_terms.cpp
@@ -1,4 +1,4 @@
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <boost/functional/hash.hpp>
 #include <tesseract_kinematics/core/joint_group.h>
@@ -13,9 +13,9 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt_sco/expr_vec_ops.hpp>
 #include <trajopt_sco/modeling_utils.hpp>
 #include <trajopt_sco/sco_common.hpp>
-#include <trajopt_utils/eigen_conversions.hpp>
-#include <trajopt_utils/logging.hpp>
-#include <trajopt_utils/stl_to_string.hpp>
+#include <trajopt_common/eigen_conversions.hpp>
+#include <trajopt_common/logging.hpp>
+#include <trajopt_common/stl_to_string.hpp>
 
 namespace trajopt
 {
@@ -549,7 +549,7 @@ void CollisionEvaluator::CollisionsToDistanceExpressionsContinuousW(
 
 CollisionEvaluator::CollisionEvaluator(tesseract_kinematics::JointGroup::ConstPtr manip,
                                        tesseract_environment::Environment::ConstPtr env,
-                                       util::SafetyMarginData::ConstPtr safety_margin_data,
+                                       trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                                        tesseract_collision::ContactTestType contact_test_type,
                                        double longest_valid_segment_length,
                                        double safety_margin_buffer,
@@ -865,7 +865,7 @@ void CollisionEvaluator::removeInvalidContactResults(tesseract_collision::Contac
 SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(
     tesseract_kinematics::JointGroup::ConstPtr manip,
     tesseract_environment::Environment::ConstPtr env,
-    util::SafetyMarginData::ConstPtr safety_margin_data,
+    trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
     tesseract_collision::ContactTestType contact_test_type,
     sco::VarVector vars,
     CollisionExpressionEvaluatorType type,
@@ -1010,7 +1010,7 @@ void SingleTimestepCollisionEvaluator::Plot(const tesseract_visualization::Visua
 
 DiscreteCollisionEvaluator::DiscreteCollisionEvaluator(tesseract_kinematics::JointGroup::ConstPtr manip,
                                                        tesseract_environment::Environment::ConstPtr env,
-                                                       util::SafetyMarginData::ConstPtr safety_margin_data,
+                                                       trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                                                        tesseract_collision::ContactTestType contact_test_type,
                                                        double longest_valid_segment_length,
                                                        sco::VarVector vars0,
@@ -1254,7 +1254,7 @@ void DiscreteCollisionEvaluator::Plot(const tesseract_visualization::Visualizati
 
 CastCollisionEvaluator::CastCollisionEvaluator(tesseract_kinematics::JointGroup::ConstPtr manip,
                                                tesseract_environment::Environment::ConstPtr env,
-                                               util::SafetyMarginData::ConstPtr safety_margin_data,
+                                               trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                                                tesseract_collision::ContactTestType contact_test_type,
                                                double longest_valid_segment_length,
                                                sco::VarVector vars0,
@@ -1502,7 +1502,7 @@ void CastCollisionEvaluator::Plot(const tesseract_visualization::Visualization::
 
 CollisionCost::CollisionCost(tesseract_kinematics::JointGroup::ConstPtr manip,
                              tesseract_environment::Environment::ConstPtr env,
-                             util::SafetyMarginData::ConstPtr safety_margin_data,
+                             trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                              tesseract_collision::ContactTestType contact_test_type,
                              sco::VarVector vars,
                              CollisionExpressionEvaluatorType type,
@@ -1520,7 +1520,7 @@ CollisionCost::CollisionCost(tesseract_kinematics::JointGroup::ConstPtr manip,
 
 CollisionCost::CollisionCost(tesseract_kinematics::JointGroup::ConstPtr manip,
                              tesseract_environment::Environment::ConstPtr env,
-                             util::SafetyMarginData::ConstPtr safety_margin_data,
+                             trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                              tesseract_collision::ContactTestType contact_test_type,
                              double longest_valid_segment_length,
                              sco::VarVector vars0,
@@ -1609,7 +1609,7 @@ void CollisionCost::Plot(const tesseract_visualization::Visualization::Ptr& plot
 
 CollisionConstraint::CollisionConstraint(tesseract_kinematics::JointGroup::ConstPtr manip,
                                          tesseract_environment::Environment::ConstPtr env,
-                                         util::SafetyMarginData::ConstPtr safety_margin_data,
+                                         trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                                          tesseract_collision::ContactTestType contact_test_type,
                                          sco::VarVector vars,
                                          CollisionExpressionEvaluatorType type,
@@ -1627,7 +1627,7 @@ CollisionConstraint::CollisionConstraint(tesseract_kinematics::JointGroup::Const
 
 CollisionConstraint::CollisionConstraint(tesseract_kinematics::JointGroup::ConstPtr manip,
                                          tesseract_environment::Environment::ConstPtr env,
-                                         util::SafetyMarginData::ConstPtr safety_margin_data,
+                                         trajopt_common::SafetyMarginData::ConstPtr safety_margin_data,
                                          tesseract_collision::ContactTestType contact_test_type,
                                          double longest_valid_segment_length,
                                          sco::VarVector vars0,

diff --git a/trajopt/src/file_write_callback.cpp b/trajopt/src/file_write_callback.cpp
@@ -13,7 +13,7 @@ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
 */
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <functional>
 #include <fstream>
@@ -22,7 +22,7 @@ TRAJOPT_IGNORE_WARNINGS_PUSH
 TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt/file_write_callback.hpp>
-#include <trajopt_utils/utils.hpp>
+#include <trajopt_common/utils.hpp>
 
 namespace trajopt
 {

diff --git a/trajopt/src/json_marshal.cpp b/trajopt/src/json_marshal.cpp
@@ -1,4 +1,4 @@
-#include <trajopt_utils/macros.h>
+#include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <json/json.h>
 #include <stdexcept>