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Enhancement/use hpp for headers based on PR https://github.com/moveit/moveit2/pull/3113 #641

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merged 2 commits into from
Dec 22, 2024
Merged

Enhancement/use hpp for headers based on PR https://github.com/moveit/moveit2/pull/3113 #641

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f381da5
Removed obsolete header includes from source code.
CihatAltiparmak Dec 20, 2024
114b7cb
CI: Drop obsolete clang-tidy option AnalyzeTemporaryDtors
rhaschke Dec 21, 2024
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1 change: 0 additions & 1 deletion .clang-tidy
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Expand Up @@ -17,7 +17,6 @@ Checks: 'performance-*,
readability-identifier-naming,
'
HeaderFilterRegex: '.*/moveit/task_constructor/.*\.h'
AnalyzeTemporaryDtors: false
CheckOptions:
- key: llvm-namespace-comment.ShortNamespaceLines
value: '10'
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14 changes: 7 additions & 7 deletions capabilities/src/execute_task_solution_capability.cpp
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Expand Up @@ -36,13 +36,13 @@

#include "execute_task_solution_capability.h"

#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/plan_execution/plan_execution.h>
#include <moveit/trajectory_processing/trajectory_tools.h>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/move_group/capability_names.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/utils/message_checks.h>
#include <moveit/moveit_cpp/moveit_cpp.hpp>
#include <moveit/plan_execution/plan_execution.hpp>
#include <moveit/trajectory_processing/trajectory_tools.hpp>
#include <moveit/kinematic_constraints/utils.hpp>
#include <moveit/move_group/capability_names.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <moveit/utils/message_checks.hpp>
#include <fmt/format.h>

namespace {
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2 changes: 1 addition & 1 deletion capabilities/src/execute_task_solution_capability.h
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Expand Up @@ -41,7 +41,7 @@

#pragma once

#include <moveit/move_group/move_group_capability.h>
#include <moveit/move_group/move_group_capability.hpp>
#include <rclcpp_action/rclcpp_action.hpp>

#include <moveit_task_constructor_msgs/action/execute_task_solution.hpp>
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/container_p.h
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Expand Up @@ -39,7 +39,7 @@
#pragma once

#include <moveit/task_constructor/container.h>
#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>
#include "stage_p.h"

#include <boost/bimap.hpp>
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/introspection.h
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Expand Up @@ -38,7 +38,7 @@

#pragma once

#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>
#include <moveit_task_constructor_msgs/msg/task_description.hpp>
#include <moveit_task_constructor_msgs/msg/task_statistics.hpp>
#include <moveit_task_constructor_msgs/msg/solution.hpp>
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/marker_tools.h
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Expand Up @@ -2,7 +2,7 @@

#include <rviz_marker_tools/marker_creation.h>
#include <visualization_msgs/msg/marker.hpp>
#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>
#include <functional>

namespace planning_scene {
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6 changes: 3 additions & 3 deletions core/include/moveit/task_constructor/merge.h
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Expand Up @@ -37,9 +37,9 @@
#pragma once

#include <moveit/task_constructor/storage.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/trajectory_processing/time_parameterization.h>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_trajectory/robot_trajectory.hpp>
#include <moveit/trajectory_processing/time_parameterization.hpp>

namespace moveit {
namespace task_constructor {
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4 changes: 2 additions & 2 deletions core/include/moveit/task_constructor/moveit_compat.h
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Expand Up @@ -38,8 +38,8 @@

#pragma once

#include <moveit/version.h>
#include <moveit/macros/class_forward.h>
#include <moveit/version.hpp>
#include <moveit/macros/class_forward.hpp>

#define MOVEIT_VERSION_GE(major, minor, patch) \
(MOVEIT_VERSION_MAJOR * 1'000'000 + MOVEIT_VERSION_MINOR * 1'000 + MOVEIT_VERSION_PATCH >= \
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/solvers/cartesian_path.h
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Expand Up @@ -39,7 +39,7 @@
#pragma once

#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit/robot_state/cartesian_interpolator.h>
#include <moveit/robot_state/cartesian_interpolator.hpp>

namespace moveit {
namespace task_constructor {
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/solvers/joint_interpolation.h
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Expand Up @@ -39,7 +39,7 @@
#pragma once

#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>

namespace moveit {
namespace task_constructor {
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/solvers/pipeline_planner.h
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Expand Up @@ -43,7 +43,7 @@
#include <moveit/planning_pipeline_interfaces/solution_selection_functions.hpp>
#include <moveit/planning_pipeline_interfaces/stopping_criterion_functions.hpp>
#include <rclcpp/node.hpp>
#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>

namespace planning_pipeline {
MOVEIT_CLASS_FORWARD(PlanningPipeline);
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/solvers/planner_interface.h
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Expand Up @@ -38,7 +38,7 @@

#pragma once

#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit/task_constructor/properties.h>
#include <Eigen/Geometry>
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/stage.h
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Expand Up @@ -41,7 +41,7 @@

#include "trajectory_execution_info.h"
#include "utils.h"
#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>
#include <moveit/task_constructor/storage.h>
#include <vector>
#include <list>
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/stages/fix_collision_objects.h
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#include <moveit/task_constructor/storage.h>
#include <moveit/task_constructor/stage.h>
#include <geometry_msgs/msg/vector3.hpp>
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_common.hpp>

namespace moveit {
namespace task_constructor {
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/stages/noop.h
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Expand Up @@ -36,7 +36,7 @@
#pragma once

#include <moveit/task_constructor/stage.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_scene/planning_scene.hpp>

namespace moveit {
namespace task_constructor {
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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/stages/pick.h
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Expand Up @@ -36,7 +36,7 @@

#pragma once

#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>
#include <moveit/task_constructor/container.h>
#include <geometry_msgs/msg/twist_stamped.hpp>

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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/stages/simple_grasp.h
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Expand Up @@ -37,7 +37,7 @@
#pragma once

#include <moveit/task_constructor/container.h>
#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <Eigen/Geometry>

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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/storage.h
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Expand Up @@ -39,7 +39,7 @@

#pragma once

#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>
#include <moveit/task_constructor/properties.h>
#include <moveit/task_constructor/cost_queue.h>
#include <moveit_task_constructor_msgs/msg/solution.hpp>
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4 changes: 2 additions & 2 deletions core/include/moveit/task_constructor/task.h
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Expand Up @@ -44,10 +44,10 @@
#include <moveit/task_constructor/introspection.h>
#include <moveit_task_constructor_msgs/msg/solution.hpp>

#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>

#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit/utils/moveit_error_code.h>
#include <moveit/utils/moveit_error_code.hpp>

#include <rclcpp/node.hpp>

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2 changes: 1 addition & 1 deletion core/include/moveit/task_constructor/utils.h
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#include <Eigen/Geometry>

#include <moveit/macros/class_forward.h>
#include <moveit/macros/class_forward.hpp>

namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene);
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6 changes: 3 additions & 3 deletions core/python/bindings/src/core.cpp
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Expand Up @@ -40,9 +40,9 @@
#include <moveit/task_constructor/container_p.h>
#include <moveit/task_constructor/task.h>

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
#include <moveit/move_group_interface/move_group_interface.hpp>

namespace py = pybind11;
using namespace py::literals;
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2 changes: 1 addition & 1 deletion core/python/bindings/src/core.h
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Expand Up @@ -38,7 +38,7 @@
#include <moveit/task_constructor/container.h>
#include <moveit/task_constructor/cost_queue.h>
#include <moveit/task_constructor/cost_terms.h>
#include <moveit/utils/moveit_error_code.h>
#include <moveit/utils/moveit_error_code.hpp>
#include <pybind11/smart_holder.h>

/** Trampoline classes to allow inheritance in Python (overriding virtual functions) */
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2 changes: 1 addition & 1 deletion core/python/bindings/src/stages.cpp
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Expand Up @@ -37,7 +37,7 @@
#include <moveit/task_constructor/stages.h>
#include <moveit/task_constructor/stages/pick.h>
#include <moveit/task_constructor/stages/simple_grasp.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit_msgs/msg/planning_scene.hpp>
#include <pybind11/stl.h>
#include <py_binding_tools/ros_msg_typecasters.h>
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4 changes: 2 additions & 2 deletions core/src/container.cpp
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Expand Up @@ -38,8 +38,8 @@
#include <moveit/task_constructor/introspection.h>
#include <moveit/task_constructor/merge.h>
#include <moveit/task_constructor/fmt_p.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>

#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
Expand All @@ -63,24 +63,24 @@
std::ostream& os = std::cerr) {
static unsigned int id = 0;
const unsigned int width = 10; // indentation of name
os << std::endl << (success ? '+' : '-') << ' ' << creator.name() << ' ';

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if (success)
os << ++id << ' ';
if (const auto conn = dynamic_cast<const ConnectingPrivate*>(creator.pimpl()))
os << conn->pendingPairsPrinter();
os << std::endl;

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for (const auto& child : container.children()) {
auto cimpl = child->pimpl();
os << std::setw(width) << std::left << child->name();
if (!cimpl->starts() && !cimpl->ends())
os << "↕ " << std::endl;

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if (cimpl->starts())
os << "↓ " << *child->pimpl()->starts() << std::endl;

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if (cimpl->starts() && cimpl->ends())
os << std::setw(width) << " ";
if (cimpl->ends())
os << "↑ " << *child->pimpl()->ends() << std::endl;

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}
}

Expand Down Expand Up @@ -460,7 +460,7 @@
if (stage->numFailures()) {
os << stage->name() << " (0/" << stage->numFailures() << ")";
stage->explainFailure(os);
os << std::endl;

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break;
}
stage->explainFailure(os); // recursively process children
Expand All @@ -469,7 +469,7 @@

std::ostream& operator<<(std::ostream& os, const ContainerBase& container) {
ContainerBase::StageCallback processor = [&os](const Stage& stage, unsigned int depth) -> bool {
os << std::string(2 * depth, ' ') << *stage.pimpl() << std::endl;

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return true;
};
container.traverseRecursively(processor);
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8 changes: 4 additions & 4 deletions core/src/cost_terms.cpp
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#include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/fmt_p.h>

#include <moveit/collision_detection/collision_common.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/collision_detection/collision_common.hpp>
#include <moveit/robot_trajectory/robot_trajectory.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_state/conversions.hpp>

#include <Eigen/Geometry>

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2 changes: 1 addition & 1 deletion core/src/introspection.cpp
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#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/service.hpp>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_scene/planning_scene.hpp>

#include <sstream>
#include <boost/bimap.hpp>
Expand Down Expand Up @@ -206,7 +206,7 @@
publishSolution(*solution);

if (wait) {
std::cout << "Press <Enter> to continue ..." << std::endl;

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int ch = getchar();
if (ch == 'q' || ch == 'Q')
break;
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4 changes: 2 additions & 2 deletions core/src/marker_tools.cpp
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@@ -1,6 +1,6 @@
#include <moveit/task_constructor/marker_tools.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_state/robot_state.hpp>

namespace vm = visualization_msgs;

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8 changes: 4 additions & 4 deletions core/src/solvers/cartesian_path.cpp
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#include <moveit/task_constructor/solvers/cartesian_path.h>
#include <moveit/task_constructor/utils.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/trajectory_processing/time_parameterization.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_state/cartesian_interpolator.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/trajectory_processing/time_parameterization.hpp>
#include <moveit/kinematics_base/kinematics_base.hpp>
#include <moveit/robot_state/cartesian_interpolator.hpp>
#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
#include <tf2_eigen/tf2_eigen.hpp>
#else
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4 changes: 2 additions & 2 deletions core/src/solvers/joint_interpolation.cpp
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*/

#include <moveit/task_constructor/solvers/joint_interpolation.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/trajectory_processing/time_parameterization.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/trajectory_processing/time_parameterization.hpp>

#include <chrono>

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2 changes: 1 addition & 1 deletion core/src/solvers/multi_planner.cpp
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*/

#include <moveit/task_constructor/solvers/multi_planner.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/robot_trajectory/robot_trajectory.hpp>
#include <chrono>

namespace moveit {
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6 changes: 3 additions & 3 deletions core/src/solvers/pipeline_planner.cpp
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#include <moveit/task_constructor/solvers/pipeline_planner.h>
#include <moveit/task_constructor/task.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/planning_pipeline/planning_pipeline.hpp>
#include <moveit_msgs/msg/motion_plan_request.hpp>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/kinematic_constraints/utils.hpp>

#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
#include <tf2_eigen/tf2_eigen.hpp>
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2 changes: 1 addition & 1 deletion core/src/solvers/planner_interface.cpp
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*/

#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>

using namespace trajectory_processing;

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2 changes: 1 addition & 1 deletion core/src/stage.cpp
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#include <moveit/task_constructor/introspection.h>
#include <moveit/task_constructor/fmt_p.h>

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_scene/planning_scene.hpp>

#include <rclcpp/logging.hpp>

Expand Down Expand Up @@ -92,9 +92,9 @@

std::ostream& operator<<(std::ostream& os, const InitStageException& e) {
os << "Error initializing stage" << (e.errors_.size() > 1 ? "s" : "") << ":" << std::endl;
for (const auto& pair : e.errors_)

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os << pair.first->name() << ": " << pair.second << std::endl;
return os;

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}

StagePrivate::StagePrivate(Stage* me, const std::string& name)
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6 changes: 3 additions & 3 deletions core/src/stages/compute_ik.cpp
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Expand Up @@ -39,9 +39,9 @@
#include <moveit/task_constructor/marker_tools.h>
#include <moveit/task_constructor/fmt_p.h>

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <moveit/robot_state/robot_state.hpp>

#include <Eigen/Geometry>
#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
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4 changes: 2 additions & 2 deletions core/src/stages/connect.cpp
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#include <moveit/task_constructor/cost_terms.h>
#include <moveit/task_constructor/fmt_p.h>

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>

#if FMT_VERSION >= 90000
template <>
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4 changes: 2 additions & 2 deletions core/src/stages/current_state.cpp
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Expand Up @@ -41,8 +41,8 @@
#include <moveit/task_constructor/storage.h>
#include <moveit_msgs/srv/get_planning_scene.hpp>
#include <moveit_msgs/msg/planning_scene_components.hpp>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
#include <rclcpp/rclcpp.hpp>

namespace moveit {
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2 changes: 1 addition & 1 deletion core/src/stages/fix_collision_objects.cpp
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Expand Up @@ -40,7 +40,7 @@
#include <moveit/task_constructor/storage.h>
#include <moveit/task_constructor/fmt_p.h>

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/task_constructor/cost_terms.h>

#include <rviz_marker_tools/marker_creation.h>
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2 changes: 1 addition & 1 deletion core/src/stages/fixed_cartesian_poses.cpp
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Expand Up @@ -39,7 +39,7 @@
#include <moveit/task_constructor/cost_terms.h>
#include <moveit/task_constructor/marker_tools.h>

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <rviz_marker_tools/marker_creation.h>

namespace moveit {
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