initial package cleanup

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

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
 {
 

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; }

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"
 
 /*********************************************

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

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>

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,

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

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
 

src/hand/robot_interface_hand.cpp

@@ -1,4 +1,4 @@
-#include "robot_interface_hand.h"
+#include <sas_robot_driver_franka/robot_interface_hand.h>
 
 
 

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>

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
 {

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;

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;
 

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;
 

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

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"
 
 
 /*********************************************

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>
 
 
 /*********************************************