From dc2dcf51bccb34716fe86d16f2b9e71e85556b20 Mon Sep 17 00:00:00 2001
From: qlin1806 <qlin1806@g.ecc.u-tokyo.ac.jp>
Date: Wed, 21 Aug 2024 16:30:44 -0700
Subject: [PATCH] initial package cleanup

---
 CMakeLists.txt                                            | 3 +--
 .../generator/custom_motion_generation.h                  | 0
 .../generator/motion_generator.h                          | 0
 .../generator/quadratic_program_motion_generator.h        | 0
 .../robot_dynamic/qros_robot_dynamics_interface.h         | 0
 .../robot_dynamic/qros_robot_dynamics_provider.h          | 0
 .../sas_robot_driver_franka}/robot_interface_franka.h     | 0
 .../{ => sas_robot_driver_franka}/robot_interface_hand.h  | 0
 .../sas_robot_driver_franka.h                             | 8 +++++---
 qt/configuration_window/mainwindow.h                      | 2 +-
 src/deprecated/robot_coppelia_ros_interface_node.cpp      | 2 +-
 src/generator/custom_motion_generation.cpp                | 2 +-
 src/generator/motion_generator.cpp                        | 2 +-
 src/generator/quadratic_program_motion_generator.cpp      | 2 +-
 src/hand/qros_effector_driver_franka_hand.cpp             | 3 +--
 src/hand/qros_effector_driver_franka_hand.h               | 1 +
 src/hand/robot_interface_hand.cpp                         | 2 +-
 src/joint/robot_interface_franka.cpp                      | 2 +-
 src/joint/sas_robot_driver_franka.cpp                     | 6 +-----
 src/robot_dynamics/qros_robot_dynamic_py.cpp              | 4 ++--
 src/robot_dynamics/qros_robot_dynamics_interface.cpp      | 2 +-
 src/robot_dynamics/qros_robot_dynamics_provider.cpp       | 2 +-
 src/sas_robot_driver_coppelia_node.cpp                    | 2 +-
 src/sas_robot_driver_franka_hand_node.cpp                 | 2 +-
 src/sas_robot_driver_franka_node.cpp                      | 4 ++--
 25 files changed, 24 insertions(+), 27 deletions(-)
 rename include/{ => sas_robot_driver_franka}/generator/custom_motion_generation.h (100%)
 rename include/{ => sas_robot_driver_franka}/generator/motion_generator.h (100%)
 rename include/{ => sas_robot_driver_franka}/generator/quadratic_program_motion_generator.h (100%)
 rename include/{ => sas_robot_driver_franka}/robot_dynamic/qros_robot_dynamics_interface.h (100%)
 rename include/{ => sas_robot_driver_franka}/robot_dynamic/qros_robot_dynamics_provider.h (100%)
 rename {src/joint => include/sas_robot_driver_franka}/robot_interface_franka.h (100%)
 rename include/{ => sas_robot_driver_franka}/robot_interface_hand.h (100%)
 rename include/{ => sas_robot_driver_franka}/sas_robot_driver_franka.h (94%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a33fc3b..7799479 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -117,7 +117,6 @@ target_link_libraries(robot_interface_hand Franka::Franka
 
 include_directories(
         include
-        include/generator
         src/
         src/robot_dynamics
         src/hand
@@ -199,7 +198,7 @@ target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
 #####################################################################################
 # python binding
 include_directories(
-        include/robot_dynamic
+        include/sas_robot_driver_franka/robot_dynamic
 )
 pybind_add_module(_qros_robot_dynamic SHARED
         src/robot_dynamics/qros_robot_dynamic_py.cpp src/robot_dynamics/qros_robot_dynamics_interface.cpp src/robot_dynamics/qros_robot_dynamics_provider.cpp
diff --git a/include/generator/custom_motion_generation.h b/include/sas_robot_driver_franka/generator/custom_motion_generation.h
similarity index 100%
rename from include/generator/custom_motion_generation.h
rename to include/sas_robot_driver_franka/generator/custom_motion_generation.h
diff --git a/include/generator/motion_generator.h b/include/sas_robot_driver_franka/generator/motion_generator.h
similarity index 100%
rename from include/generator/motion_generator.h
rename to include/sas_robot_driver_franka/generator/motion_generator.h
diff --git a/include/generator/quadratic_program_motion_generator.h b/include/sas_robot_driver_franka/generator/quadratic_program_motion_generator.h
similarity index 100%
rename from include/generator/quadratic_program_motion_generator.h
rename to include/sas_robot_driver_franka/generator/quadratic_program_motion_generator.h
diff --git a/include/robot_dynamic/qros_robot_dynamics_interface.h b/include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_interface.h
similarity index 100%
rename from include/robot_dynamic/qros_robot_dynamics_interface.h
rename to include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_interface.h
diff --git a/include/robot_dynamic/qros_robot_dynamics_provider.h b/include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_provider.h
similarity index 100%
rename from include/robot_dynamic/qros_robot_dynamics_provider.h
rename to include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_provider.h
diff --git a/src/joint/robot_interface_franka.h b/include/sas_robot_driver_franka/robot_interface_franka.h
similarity index 100%
rename from src/joint/robot_interface_franka.h
rename to include/sas_robot_driver_franka/robot_interface_franka.h
diff --git a/include/robot_interface_hand.h b/include/sas_robot_driver_franka/robot_interface_hand.h
similarity index 100%
rename from include/robot_interface_hand.h
rename to include/sas_robot_driver_franka/robot_interface_hand.h
diff --git a/include/sas_robot_driver_franka.h b/include/sas_robot_driver_franka/sas_robot_driver_franka.h
similarity index 94%
rename from include/sas_robot_driver_franka.h
rename to include/sas_robot_driver_franka/sas_robot_driver_franka.h
index 7b1093b..c4680a6 100644
--- a/include/sas_robot_driver_franka.h
+++ b/include/sas_robot_driver_franka/sas_robot_driver_franka.h
@@ -43,13 +43,15 @@
 #include <sas_robot_driver/sas_robot_driver.h>
 #include "robot_interface_franka.h"
 #include <ros/common.h>
-#include <robot_dynamic/qros_robot_dynamics_provider.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_provider.h>
+#include <sas_clock/sas_clock.h>
+#include <dqrobotics/utils/DQ_Math.h>
+#include <ros/this_node.h>
+#include <rosconsole/macros_generated.h>
 
 using namespace DQ_robotics;
 using namespace Eigen;
 
-struct RobotInterfaceFranka::FrankaInterfaceConfiguration;  // Forward declaration
-
 namespace sas
 {
 
diff --git a/qt/configuration_window/mainwindow.h b/qt/configuration_window/mainwindow.h
index 09b0ee3..ea98c30 100644
--- a/qt/configuration_window/mainwindow.h
+++ b/qt/configuration_window/mainwindow.h
@@ -7,7 +7,7 @@
 
 #include <QMainWindow>
 #include "qspinbox.h"
-#include "robot_interface_franka.h"
+#include <sas_robot_driver_franka/robot_interface_franka.h>
 
 QT_BEGIN_NAMESPACE
 namespace Ui { class MainWindow; }
diff --git a/src/deprecated/robot_coppelia_ros_interface_node.cpp b/src/deprecated/robot_coppelia_ros_interface_node.cpp
index ced3976..a6a90ea 100644
--- a/src/deprecated/robot_coppelia_ros_interface_node.cpp
+++ b/src/deprecated/robot_coppelia_ros_interface_node.cpp
@@ -39,7 +39,7 @@
 #include <sas_common/sas_common.h>
 #include <sas_conversions/eigen3_std_conversions.h>
 #include <sas_robot_driver/sas_robot_driver_ros.h>
-#include "sas_robot_driver_franka.h"
+#include "../../include/sas_robot_driver_franka/sas_robot_driver_franka.h"
 #include "robot_coppelia_ros_interface.h"
 
 /*********************************************
diff --git a/src/generator/custom_motion_generation.cpp b/src/generator/custom_motion_generation.cpp
index a4ea61a..4618e00 100644
--- a/src/generator/custom_motion_generation.cpp
+++ b/src/generator/custom_motion_generation.cpp
@@ -28,7 +28,7 @@
 #
 # ################################################################
 */
-#include "generator/custom_motion_generation.h"
+#include <sas_robot_driver_franka/generator/custom_motion_generation.h>
 
 /**
  * @brief CustomMotionGeneration::CustomMotionGeneration
diff --git a/src/generator/motion_generator.cpp b/src/generator/motion_generator.cpp
index 8318f92..976855c 100644
--- a/src/generator/motion_generator.cpp
+++ b/src/generator/motion_generator.cpp
@@ -1,6 +1,6 @@
 // Copyright (c) 2017 Franka Emika GmbH
 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
-#include "generator/motion_generator.h"
+#include <sas_robot_driver_franka/generator/motion_generator.h>
 #include <algorithm>
 #include <array>
 #include <cmath>
diff --git a/src/generator/quadratic_program_motion_generator.cpp b/src/generator/quadratic_program_motion_generator.cpp
index 448a8d8..fac8a11 100644
--- a/src/generator/quadratic_program_motion_generator.cpp
+++ b/src/generator/quadratic_program_motion_generator.cpp
@@ -1,4 +1,4 @@
-#include "generator/quadratic_program_motion_generator.h"
+#include <sas_robot_driver_franka/generator/quadratic_program_motion_generator.h>
 
 
 QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor,
diff --git a/src/hand/qros_effector_driver_franka_hand.cpp b/src/hand/qros_effector_driver_franka_hand.cpp
index 5fea6b4..c859612 100644
--- a/src/hand/qros_effector_driver_franka_hand.cpp
+++ b/src/hand/qros_effector_driver_franka_hand.cpp
@@ -27,9 +27,8 @@
 #
 # ################################################################
 */
-#include "hand/qros_effector_driver_franka_hand.h"
+#include "qros_effector_driver_franka_hand.h"
 
-#include <franka/exception.h>
 
 
 namespace qros
diff --git a/src/hand/qros_effector_driver_franka_hand.h b/src/hand/qros_effector_driver_franka_hand.h
index 04639d6..9f33424 100644
--- a/src/hand/qros_effector_driver_franka_hand.h
+++ b/src/hand/qros_effector_driver_franka_hand.h
@@ -38,6 +38,7 @@
 #include <thread>
 #include <mutex>
 
+#include <franka/exception.h>
 // #define BLOCK_READ_IN_USED
 // #define IN_TESTING
 
diff --git a/src/hand/robot_interface_hand.cpp b/src/hand/robot_interface_hand.cpp
index 3ae6227..461ac7e 100644
--- a/src/hand/robot_interface_hand.cpp
+++ b/src/hand/robot_interface_hand.cpp
@@ -1,4 +1,4 @@
-#include "robot_interface_hand.h"
+#include <sas_robot_driver_franka/robot_interface_hand.h>
 
 
 
diff --git a/src/joint/robot_interface_franka.cpp b/src/joint/robot_interface_franka.cpp
index 6dad297..ca75678 100644
--- a/src/joint/robot_interface_franka.cpp
+++ b/src/joint/robot_interface_franka.cpp
@@ -30,7 +30,7 @@
 */
 
 
-#include "robot_interface_franka.h"
+#include <sas_robot_driver_franka/robot_interface_franka.h>
 
 #include <ros/this_node.h>
 #include <rosconsole/macros_generated.h>
diff --git a/src/joint/sas_robot_driver_franka.cpp b/src/joint/sas_robot_driver_franka.cpp
index 028a668..8646c27 100644
--- a/src/joint/sas_robot_driver_franka.cpp
+++ b/src/joint/sas_robot_driver_franka.cpp
@@ -30,12 +30,8 @@
 # ################################################################
 */
 
+#include <sas_robot_driver_franka/sas_robot_driver_franka.h>
 
-#include "../../include/sas_robot_driver_franka.h"
-#include "sas_clock/sas_clock.h"
-#include <dqrobotics/utils/DQ_Math.h>
-#include <ros/this_node.h>
-#include <rosconsole/macros_generated.h>
 
 namespace sas
 {
diff --git a/src/robot_dynamics/qros_robot_dynamic_py.cpp b/src/robot_dynamics/qros_robot_dynamic_py.cpp
index 320affc..3a5e069 100644
--- a/src/robot_dynamics/qros_robot_dynamic_py.cpp
+++ b/src/robot_dynamics/qros_robot_dynamic_py.cpp
@@ -32,8 +32,8 @@
 #include <pybind11/stl.h>
 #include <pybind11/eigen.h>
 
-#include <robot_dynamic/qros_robot_dynamics_provider.h>
-#include <robot_dynamic/qros_robot_dynamics_interface.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_provider.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_interface.h>
 
 namespace py = pybind11;
 using RDI = qros::RobotDynamicInterface;
diff --git a/src/robot_dynamics/qros_robot_dynamics_interface.cpp b/src/robot_dynamics/qros_robot_dynamics_interface.cpp
index 647e35e..612ee77 100644
--- a/src/robot_dynamics/qros_robot_dynamics_interface.cpp
+++ b/src/robot_dynamics/qros_robot_dynamics_interface.cpp
@@ -27,7 +27,7 @@
 #
 # ################################################################
 */
-#include <robot_dynamic/qros_robot_dynamics_interface.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_interface.h>
 
 using namespace qros;
 
diff --git a/src/robot_dynamics/qros_robot_dynamics_provider.cpp b/src/robot_dynamics/qros_robot_dynamics_provider.cpp
index fcde8f5..5d5b25b 100644
--- a/src/robot_dynamics/qros_robot_dynamics_provider.cpp
+++ b/src/robot_dynamics/qros_robot_dynamics_provider.cpp
@@ -27,7 +27,7 @@
 #
 # ################################################################
 */
-#include <robot_dynamic/qros_robot_dynamics_provider.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_provider.h>
 
 using namespace qros;
 
diff --git a/src/sas_robot_driver_coppelia_node.cpp b/src/sas_robot_driver_coppelia_node.cpp
index bab80ec..90c2829 100644
--- a/src/sas_robot_driver_coppelia_node.cpp
+++ b/src/sas_robot_driver_coppelia_node.cpp
@@ -41,7 +41,7 @@
 #include <sas_common/sas_common.h>
 #include <sas_conversions/eigen3_std_conversions.h>
 #include <sas_robot_driver/sas_robot_driver_ros.h>
-#include "coppelia/sas_robot_driver_coppelia.h"
+#include "../../src/coppelia/sas_robot_driver_coppelia.h"
 
 /*********************************************
  * SIGNAL HANDLER
diff --git a/src/sas_robot_driver_franka_hand_node.cpp b/src/sas_robot_driver_franka_hand_node.cpp
index b2fcd05..3bd08ae 100644
--- a/src/sas_robot_driver_franka_hand_node.cpp
+++ b/src/sas_robot_driver_franka_hand_node.cpp
@@ -36,7 +36,7 @@
 #include <sas_common/sas_common.h>
 #include <sas_conversions/eigen3_std_conversions.h>
 #include <sas_robot_driver/sas_robot_driver_ros.h>
-#include "hand/qros_effector_driver_franka_hand.h"
+#include "../../src/hand/qros_effector_driver_franka_hand.h"
 
 
 /*********************************************
diff --git a/src/sas_robot_driver_franka_node.cpp b/src/sas_robot_driver_franka_node.cpp
index c561a4c..85d6bda 100644
--- a/src/sas_robot_driver_franka_node.cpp
+++ b/src/sas_robot_driver_franka_node.cpp
@@ -39,8 +39,8 @@
 #include <sas_common/sas_common.h>
 #include <sas_conversions/eigen3_std_conversions.h>
 #include <sas_robot_driver/sas_robot_driver_ros.h>
-#include "sas_robot_driver_franka.h"
-#include <robot_dynamic/qros_robot_dynamics_provider.h>
+#include <sas_robot_driver_franka/sas_robot_driver_franka.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_provider.h>
 
 
 /*********************************************