From 44a058e9d23b5762e9660276fc2843b623e13d88 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Fri, 18 Jun 2021 16:10:02 +0200
Subject: [PATCH] Reduce includes
---
source/RobotAPI/libraries/core/PIDController.cpp | 1 +
source/RobotAPI/libraries/core/PIDController.h | 10 +++++++---
source/RobotAPI/libraries/core/math/MathUtils.h | 4 ++--
3 files changed, 10 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/core/PIDController.cpp b/source/RobotAPI/libraries/core/PIDController.cpp
index 0b2dd6708..d3b4eb519 100644
--- a/source/RobotAPI/libraries/core/PIDController.cpp
+++ b/source/RobotAPI/libraries/core/PIDController.cpp
@@ -26,6 +26,7 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <RobotAPI/libraries/core/math/MathUtils.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>
#include <ArmarXCore/observers/filters/rtfilters/ButterworthFilter.h>
#include <memory>
diff --git a/source/RobotAPI/libraries/core/PIDController.h b/source/RobotAPI/libraries/core/PIDController.h
index 4e17ef0d0..9e183e770 100644
--- a/source/RobotAPI/libraries/core/PIDController.h
+++ b/source/RobotAPI/libraries/core/PIDController.h
@@ -27,7 +27,6 @@
#include "MultiDimPIDController.h"
#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>
#include <Eigen/Core>
@@ -36,6 +35,11 @@
namespace armarx
{
+ namespace rtfilters
+ {
+ class RTFilterBase;
+ }
+
class PIDController :
public Logging
{
@@ -77,8 +81,8 @@ namespace armarx
bool firstRun;
bool limitless;
bool threadSafe = true;
- rtfilters::RTFilterBasePtr differentialFilter;
- rtfilters::RTFilterBasePtr pdOutputFilter;
+ std::shared_ptr<rtfilters::RTFilterBase> differentialFilter;
+ std::shared_ptr<rtfilters::RTFilterBase> pdOutputFilter;
private:
using ScopedRecursiveLock = std::unique_lock<std::recursive_mutex>;
using ScopedRecursiveLockPtr = std::unique_ptr<ScopedRecursiveLock>;
diff --git a/source/RobotAPI/libraries/core/math/MathUtils.h b/source/RobotAPI/libraries/core/math/MathUtils.h
index 7a7fb5c8d..4944430b1 100644
--- a/source/RobotAPI/libraries/core/math/MathUtils.h
+++ b/source/RobotAPI/libraries/core/math/MathUtils.h
@@ -22,9 +22,9 @@
#pragma once
-#include <math.h>
-#include <Eigen/Eigen>
+#include <Eigen/Core>
#include <vector>
+#include <math.h>
namespace armarx::math
{
--
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