From 8d7e8bf6bd0da7833874979a4c273738ae132e27 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Fri, 5 Sep 2014 16:06:29 +0200
Subject: [PATCH] reordered directory structure
---
source/RobotAPI/CMakeLists.txt | 10 ++--------
.../ForceTorqueObserver/ForceTorqueObserverApp.h | 2 +-
.../ForceTorqueUnitSimulationApp.h | 2 +-
.../HandUnitObserver/HandUnitObserverApp.h | 2 +-
.../HandUnitSimulation/HandUnitSimulationApp.h | 2 +-
.../applications/HapticObserver/HapticObserverApp.h | 2 +-
.../RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h | 2 +-
.../KinematicUnitObserver/KinematicUnitObserverApp.h | 2 +-
.../KinematicUnitSimulationApp.h | 2 +-
.../applications/MotionControl/MotionControlApp.h | 2 +-
.../MotionControlTest/MotionControlTestApp.h | 2 +-
.../PlatformUnitObserver/PlatformUnitObserverApp.h | 2 +-
.../PlatformUnitSimulation/PlatformUnitSimulationApp.h | 2 +-
.../applications/RobotControl/RobotControlApp.h | 2 +-
.../applications/RobotControlUI/RobotControlUI.h | 2 +-
.../RobotStateComponent/RobotStateComponentApp.h | 2 +-
.../RobotStateObserver/RobotStateObserverApp.h | 2 +-
.../applications/TCPControlUnit/TCPControlUnitApp.h | 4 ++--
.../applications/TCPMoverUnit/TCPMoverUnitApp.h | 2 +-
.../WeissHapticSensor/WeissHapticSensorApp.h | 4 ++--
.../WeissHapticSensorsUnit/WeissHapticSensorsUnitApp.h | 4 ++--
.../{armarx-objects => components}/CMakeLists.txt | 0
.../WeissHapticSensorListener/CMakeLists.txt | 0
.../WeissHapticSensorListener.cpp | 0
.../WeissHapticSensorListener.h | 0
.../WeissHapticSensorListener/test/CMakeLists.txt | 0
.../test/WeissHapticSensorListenerTest.cpp | 2 +-
source/RobotAPI/libraries/CMakeLists.txt | 5 +++++
source/RobotAPI/{ => libraries}/core/CMakeLists.txt | 0
.../{ => libraries}/core/RobotStatechartContext.cpp | 4 ++--
.../{ => libraries}/core/RobotStatechartContext.h | 2 +-
source/RobotAPI/{ => libraries}/drivers/CMakeLists.txt | 0
.../drivers/WeissHapticSensor/AbstractInterface.cpp | 0
.../drivers/WeissHapticSensor/AbstractInterface.h | 0
.../drivers/WeissHapticSensor/BinaryLogger.cpp | 0
.../drivers/WeissHapticSensor/BinaryLogger.h | 0
.../drivers/WeissHapticSensor/CMakeLists.txt | 0
.../drivers/WeissHapticSensor/CalibrationHelper.cpp | 0
.../drivers/WeissHapticSensor/CalibrationHelper.h | 0
.../drivers/WeissHapticSensor/CalibrationInfo.cpp | 0
.../drivers/WeissHapticSensor/CalibrationInfo.h | 0
.../drivers/WeissHapticSensor/Checksum.cpp | 0
.../drivers/WeissHapticSensor/Checksum.h | 0
.../drivers/WeissHapticSensor/Response.h | 0
.../drivers/WeissHapticSensor/SerialInterface.cpp | 0
.../drivers/WeissHapticSensor/SerialInterface.h | 0
.../drivers/WeissHapticSensor/TactileSensor.cpp | 0
.../drivers/WeissHapticSensor/TactileSensor.h | 0
.../drivers/WeissHapticSensor/TextWriter.cpp | 0
.../drivers/WeissHapticSensor/TextWriter.h | 0
.../drivers/WeissHapticSensor/TransmissionException.h | 0
.../{ => libraries}/drivers/WeissHapticSensor/Types.h | 0
.../drivers/WeissHapticSensor/WeissHapticSensor.cpp | 0
.../drivers/WeissHapticSensor/WeissHapticSensor.h | 0
.../WeissHapticSensor/WeissHapticSensorsUnit.cpp | 0
.../drivers/WeissHapticSensor/WeissHapticSensorsUnit.h | 2 +-
.../RobotAPI/{ => libraries}/robotstate/CMakeLists.txt | 0
.../{ => libraries}/robotstate/RobotStateComponent.cpp | 0
.../{ => libraries}/robotstate/RobotStateComponent.h | 0
.../{ => libraries}/robotstate/SharedRobotServants.cpp | 0
.../{ => libraries}/robotstate/SharedRobotServants.h | 2 +-
.../{ => libraries}/robotstate/remote/ArmarPose.cpp | 0
.../{ => libraries}/robotstate/remote/ArmarPose.h | 0
.../{ => libraries}/robotstate/remote/CMakeLists.txt | 0
.../{ => libraries}/robotstate/remote/LinkedPose.cpp | 0
.../{ => libraries}/robotstate/remote/LinkedPose.h | 0
.../{ => libraries}/robotstate/remote/RemoteRobot.cpp | 0
.../{ => libraries}/robotstate/remote/RemoteRobot.h | 0
.../robotstate/remote/RemoteRobotNode.cpp | 0
.../robotstate/remote/RobotStateObjectFactories.cpp | 0
.../robotstate/remote/RobotStateObjectFactories.h | 4 ++--
.../robotstate/remote/RobotStateObserver.cpp | 4 ++--
.../robotstate/remote/RobotStateObserver.h | 0
.../remote/checks/ConditionCheckEqualsPose.h | 0
.../checks/ConditionCheckEqualsPoseWithTolerance.h | 0
.../remote/checks/ConditionCheckMagnitudeChecks.cpp | 0
.../remote/checks/ConditionCheckMagnitudeChecks.h | 4 ++--
source/RobotAPI/{ => libraries}/units/CMakeLists.txt | 0
.../{ => libraries}/units/ForceTorqueObserver.cpp | 4 ++--
.../{ => libraries}/units/ForceTorqueObserver.h | 2 +-
.../RobotAPI/{ => libraries}/units/ForceTorqueUnit.cpp | 0
.../RobotAPI/{ => libraries}/units/ForceTorqueUnit.h | 2 +-
.../units/ForceTorqueUnitSimulation.cpp | 2 +-
.../{ => libraries}/units/ForceTorqueUnitSimulation.h | 2 +-
source/RobotAPI/{ => libraries}/units/HandUnit.cpp | 0
source/RobotAPI/{ => libraries}/units/HandUnit.h | 2 +-
.../{ => libraries}/units/HandUnitObserver.cpp | 0
.../RobotAPI/{ => libraries}/units/HandUnitObserver.h | 0
.../{ => libraries}/units/HandUnitSimulation.cpp | 0
.../{ => libraries}/units/HandUnitSimulation.h | 0
.../RobotAPI/{ => libraries}/units/HapticObserver.cpp | 4 ++--
source/RobotAPI/{ => libraries}/units/HapticObserver.h | 0
source/RobotAPI/{ => libraries}/units/HapticUnit.cpp | 0
source/RobotAPI/{ => libraries}/units/HapticUnit.h | 2 +-
source/RobotAPI/{ => libraries}/units/HardwareUnit.cpp | 0
source/RobotAPI/{ => libraries}/units/HardwareUnit.h | 0
source/RobotAPI/{ => libraries}/units/HeadIKUnit.cpp | 0
source/RobotAPI/{ => libraries}/units/HeadIKUnit.h | 4 ++--
.../RobotAPI/{ => libraries}/units/KinematicUnit.cpp | 0
source/RobotAPI/{ => libraries}/units/KinematicUnit.h | 2 +-
.../{ => libraries}/units/KinematicUnitObserver.cpp | 0
.../{ => libraries}/units/KinematicUnitObserver.h | 0
.../{ => libraries}/units/KinematicUnitSimulation.cpp | 0
.../{ => libraries}/units/KinematicUnitSimulation.h | 0
source/RobotAPI/{ => libraries}/units/PlatformUnit.cpp | 0
source/RobotAPI/{ => libraries}/units/PlatformUnit.h | 2 +-
.../{ => libraries}/units/PlatformUnitObserver.cpp | 0
.../{ => libraries}/units/PlatformUnitObserver.h | 0
.../{ => libraries}/units/PlatformUnitSimulation.cpp | 0
.../{ => libraries}/units/PlatformUnitSimulation.h | 0
.../RobotAPI/{ => libraries}/units/SensorActorUnit.cpp | 0
.../RobotAPI/{ => libraries}/units/SensorActorUnit.h | 0
.../RobotAPI/{ => libraries}/units/TCPControlUnit.cpp | 2 +-
source/RobotAPI/{ => libraries}/units/TCPControlUnit.h | 4 ++--
.../{ => libraries}/units/TCPControlUnitObserver.cpp | 2 +-
.../{ => libraries}/units/TCPControlUnitObserver.h | 2 +-
source/RobotAPI/{ => libraries}/units/TCPMoverUnit.cpp | 2 +-
source/RobotAPI/{ => libraries}/units/TCPMoverUnit.h | 0
source/RobotAPI/statecharts/CMakeLists.txt | 5 ++++-
.../GraspingWithTorques/GraspingWithTorques.cpp | 6 +++---
.../MotionControlGroupRemoteStateOfferer.h | 2 +-
.../statecharts/MotionControlGroup/MoveJoints.cpp | 2 +-
.../RobotAPI/statecharts/MovePlatform/MovePlatform.cpp | 2 +-
.../statecharts/MovePlatform/PlatformContext.h | 4 ++--
.../MovePlatformToLandmark/MovePlatformToLandmark.cpp | 4 ++--
source/RobotAPI/statecharts/OpenHand/OpenHand.cpp | 6 +++---
.../RobotAPI/statecharts/PlaceObject/PlaceObject.cpp | 8 ++++----
.../{ => statecharts}/motioncontrol/CMakeLists.txt | 0
.../{ => statecharts}/motioncontrol/MotionControl.cpp | 2 +-
.../{ => statecharts}/motioncontrol/MotionControl.h | 2 +-
.../motioncontrol/ZeroForceControl.cpp | 4 ++--
.../{ => statecharts}/motioncontrol/ZeroForceControl.h | 0
.../{ => statecharts}/operations/CMakeLists.txt | 0
.../{ => statecharts}/operations/RobotControl.cpp | 2 +-
.../{ => statecharts}/operations/RobotControl.h | 0
135 files changed, 88 insertions(+), 86 deletions(-)
rename source/RobotAPI/{armarx-objects => components}/CMakeLists.txt (100%)
rename source/RobotAPI/{armarx-objects => components}/WeissHapticSensorListener/CMakeLists.txt (100%)
rename source/RobotAPI/{armarx-objects => components}/WeissHapticSensorListener/WeissHapticSensorListener.cpp (100%)
rename source/RobotAPI/{armarx-objects => components}/WeissHapticSensorListener/WeissHapticSensorListener.h (100%)
rename source/RobotAPI/{armarx-objects => components}/WeissHapticSensorListener/test/CMakeLists.txt (100%)
rename source/RobotAPI/{armarx-objects => components}/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp (93%)
create mode 100644 source/RobotAPI/libraries/CMakeLists.txt
rename source/RobotAPI/{ => libraries}/core/CMakeLists.txt (100%)
rename source/RobotAPI/{ => libraries}/core/RobotStatechartContext.cpp (97%)
rename source/RobotAPI/{ => libraries}/core/RobotStatechartContext.h (98%)
rename source/RobotAPI/{ => libraries}/drivers/CMakeLists.txt (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/AbstractInterface.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/AbstractInterface.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/BinaryLogger.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/BinaryLogger.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/CMakeLists.txt (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/CalibrationHelper.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/CalibrationHelper.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/CalibrationInfo.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/CalibrationInfo.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/Checksum.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/Checksum.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/Response.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/SerialInterface.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/SerialInterface.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/TactileSensor.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/TactileSensor.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/TextWriter.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/TextWriter.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/TransmissionException.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/Types.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/WeissHapticSensor.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/WeissHapticSensor.h (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h (95%)
rename source/RobotAPI/{ => libraries}/robotstate/CMakeLists.txt (100%)
rename source/RobotAPI/{ => libraries}/robotstate/RobotStateComponent.cpp (100%)
rename source/RobotAPI/{ => libraries}/robotstate/RobotStateComponent.h (100%)
rename source/RobotAPI/{ => libraries}/robotstate/SharedRobotServants.cpp (100%)
rename source/RobotAPI/{ => libraries}/robotstate/SharedRobotServants.h (98%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/ArmarPose.cpp (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/ArmarPose.h (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/CMakeLists.txt (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/LinkedPose.cpp (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/LinkedPose.h (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/RemoteRobot.cpp (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/RemoteRobot.h (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/RemoteRobotNode.cpp (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/RobotStateObjectFactories.cpp (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/RobotStateObjectFactories.h (97%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/RobotStateObserver.cpp (98%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/RobotStateObserver.h (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/checks/ConditionCheckEqualsPose.h (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/checks/ConditionCheckEqualsPoseWithTolerance.h (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/checks/ConditionCheckMagnitudeChecks.cpp (100%)
rename source/RobotAPI/{ => libraries}/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h (78%)
rename source/RobotAPI/{ => libraries}/units/CMakeLists.txt (100%)
rename source/RobotAPI/{ => libraries}/units/ForceTorqueObserver.cpp (98%)
rename source/RobotAPI/{ => libraries}/units/ForceTorqueObserver.h (97%)
rename source/RobotAPI/{ => libraries}/units/ForceTorqueUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/ForceTorqueUnit.h (98%)
rename source/RobotAPI/{ => libraries}/units/ForceTorqueUnitSimulation.cpp (97%)
rename source/RobotAPI/{ => libraries}/units/ForceTorqueUnitSimulation.h (98%)
rename source/RobotAPI/{ => libraries}/units/HandUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/HandUnit.h (99%)
rename source/RobotAPI/{ => libraries}/units/HandUnitObserver.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/HandUnitObserver.h (100%)
rename source/RobotAPI/{ => libraries}/units/HandUnitSimulation.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/HandUnitSimulation.h (100%)
rename source/RobotAPI/{ => libraries}/units/HapticObserver.cpp (95%)
rename source/RobotAPI/{ => libraries}/units/HapticObserver.h (100%)
rename source/RobotAPI/{ => libraries}/units/HapticUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/HapticUnit.h (97%)
rename source/RobotAPI/{ => libraries}/units/HardwareUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/HardwareUnit.h (100%)
rename source/RobotAPI/{ => libraries}/units/HeadIKUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/HeadIKUnit.h (96%)
rename source/RobotAPI/{ => libraries}/units/KinematicUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/KinematicUnit.h (98%)
rename source/RobotAPI/{ => libraries}/units/KinematicUnitObserver.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/KinematicUnitObserver.h (100%)
rename source/RobotAPI/{ => libraries}/units/KinematicUnitSimulation.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/KinematicUnitSimulation.h (100%)
rename source/RobotAPI/{ => libraries}/units/PlatformUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/PlatformUnit.h (98%)
rename source/RobotAPI/{ => libraries}/units/PlatformUnitObserver.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/PlatformUnitObserver.h (100%)
rename source/RobotAPI/{ => libraries}/units/PlatformUnitSimulation.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/PlatformUnitSimulation.h (100%)
rename source/RobotAPI/{ => libraries}/units/SensorActorUnit.cpp (100%)
rename source/RobotAPI/{ => libraries}/units/SensorActorUnit.h (100%)
rename source/RobotAPI/{ => libraries}/units/TCPControlUnit.cpp (99%)
rename source/RobotAPI/{ => libraries}/units/TCPControlUnit.h (98%)
rename source/RobotAPI/{ => libraries}/units/TCPControlUnitObserver.cpp (98%)
rename source/RobotAPI/{ => libraries}/units/TCPControlUnitObserver.h (99%)
rename source/RobotAPI/{ => libraries}/units/TCPMoverUnit.cpp (99%)
rename source/RobotAPI/{ => libraries}/units/TCPMoverUnit.h (100%)
rename source/RobotAPI/{ => statecharts}/motioncontrol/CMakeLists.txt (100%)
rename source/RobotAPI/{ => statecharts}/motioncontrol/MotionControl.cpp (99%)
rename source/RobotAPI/{ => statecharts}/motioncontrol/MotionControl.h (99%)
rename source/RobotAPI/{ => statecharts}/motioncontrol/ZeroForceControl.cpp (97%)
rename source/RobotAPI/{ => statecharts}/motioncontrol/ZeroForceControl.h (100%)
rename source/RobotAPI/{ => statecharts}/operations/CMakeLists.txt (100%)
rename source/RobotAPI/{ => statecharts}/operations/RobotControl.cpp (98%)
rename source/RobotAPI/{ => statecharts}/operations/RobotControl.h (100%)
diff --git a/source/RobotAPI/CMakeLists.txt b/source/RobotAPI/CMakeLists.txt
index 1ba3dced6..32014297c 100644
--- a/source/RobotAPI/CMakeLists.txt
+++ b/source/RobotAPI/CMakeLists.txt
@@ -1,13 +1,7 @@
add_subdirectory(interface)
-add_subdirectory(core)
-add_subdirectory(motioncontrol)
add_subdirectory(applications)
-add_subdirectory(units)
-add_subdirectory(armarx-objects)
+add_subdirectory(components)
add_subdirectory(statecharts)
-add_subdirectory(drivers)
+add_subdirectory(libraries)
-add_subdirectory(robotstate)
-add_subdirectory(robotstate/remote)
-add_subdirectory(operations)
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h b/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
index 6822374bf..20e2ad2ef 100644
--- a/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
+++ b/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/ForceTorqueObserver.h>
+#include <RobotAPI/libraries/units/ForceTorqueObserver.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h b/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
index 84c6d7d27..010751dbd 100644
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/ForceTorqueUnitSimulation.h>
+#include <RobotAPI/libraries/units/ForceTorqueUnitSimulation.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h b/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h
index 3a8cbcf77..07bd861fb 100644
--- a/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h
+++ b/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h
@@ -25,7 +25,7 @@
#define _ARMARX_APPLICATION_RobotAPI_HandUnitObserver_H
- #include <RobotAPI/units/HandUnitObserver.h>
+ #include <RobotAPI/libraries/units/HandUnitObserver.h>
#include <Core/core/application/Application.h>
diff --git a/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h b/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
index e598935a7..e611a30e3 100644
--- a/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
+++ b/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
@@ -25,7 +25,7 @@
#define _ARMARX_APPLICATION_RobotAPI_HandUnitSimulation_H
- #include <RobotAPI/units/HandUnitSimulation.h>
+ #include <RobotAPI/libraries/units/HandUnitSimulation.h>
#include <Core/core/application/Application.h>
diff --git a/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h b/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
index 672914e18..e0b59be8b 100644
--- a/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
+++ b/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
@@ -25,7 +25,7 @@
#define _ARMARX_APPLICATION_RobotAPI_HapticObserver_H
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/HapticObserver.h>
+#include <RobotAPI/libraries/units/HapticObserver.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
index e7837c293..c93d16e41 100644
--- a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
+++ b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/HeadIKUnit.h>
+#include <RobotAPI/libraries/units/HeadIKUnit.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h b/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
index 608359985..28022b868 100644
--- a/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
+++ b/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/KinematicUnitObserver.h>
+#include <RobotAPI/libraries/units/KinematicUnitObserver.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h b/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
index f9d41bb16..af3dede1c 100644
--- a/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
+++ b/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/KinematicUnitSimulation.h>
+#include <RobotAPI/libraries/units/KinematicUnitSimulation.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/MotionControl/MotionControlApp.h b/source/RobotAPI/applications/MotionControl/MotionControlApp.h
index 72f1483b6..5a1250ca0 100644
--- a/source/RobotAPI/applications/MotionControl/MotionControlApp.h
+++ b/source/RobotAPI/applications/MotionControl/MotionControlApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/motioncontrol/MotionControl.h>
+#include <RobotAPI/statecharts/motioncontrol/MotionControl.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h b/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
index 2c04a59ba..af86e3541 100644
--- a/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
+++ b/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/motioncontrol/MotionControl.h>
+#include <RobotAPI/statecharts/motioncontrol/MotionControl.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h b/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
index 786ea4c92..466794e13 100644
--- a/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
+++ b/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/PlatformUnitObserver.h>
+#include <RobotAPI/libraries/units/PlatformUnitObserver.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h b/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
index 35c7d14d4..c5d81cd3c 100644
--- a/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
+++ b/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/PlatformUnitSimulation.h>
+#include <RobotAPI/libraries/units/PlatformUnitSimulation.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/RobotControl/RobotControlApp.h b/source/RobotAPI/applications/RobotControl/RobotControlApp.h
index 4fda633b7..3d6a7969d 100644
--- a/source/RobotAPI/applications/RobotControl/RobotControlApp.h
+++ b/source/RobotAPI/applications/RobotControl/RobotControlApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/operations/RobotControl.h>
+#include <RobotAPI/statecharts/operations/RobotControl.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
index 9e54c2978..b9d76d5a9 100644
--- a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
+++ b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
@@ -28,7 +28,7 @@
#include <Core/core/Component.h>
#include <Core/core/services/tasks/RunningTask.h>
#include <Core/core/IceManager.h>
-#include <RobotAPI/operations/RobotControl.h>
+#include <RobotAPI/statecharts/operations/RobotControl.h>
#include <string>
namespace armarx
diff --git a/source/RobotAPI/applications/RobotStateComponent/RobotStateComponentApp.h b/source/RobotAPI/applications/RobotStateComponent/RobotStateComponentApp.h
index 30361b7b2..e094fa8bd 100644
--- a/source/RobotAPI/applications/RobotStateComponent/RobotStateComponentApp.h
+++ b/source/RobotAPI/applications/RobotStateComponent/RobotStateComponentApp.h
@@ -24,7 +24,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/robotstate/RobotStateComponent.h>
+#include <RobotAPI/libraries/robotstate/RobotStateComponent.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h b/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h
index c9b85a686..46c9c07c4 100644
--- a/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h
+++ b/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/robotstate/remote/RobotStateObserver.h>
+#include <RobotAPI/libraries/robotstate/remote/RobotStateObserver.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h b/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
index b0efe903c..fed832b19 100644
--- a/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
+++ b/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
@@ -23,8 +23,8 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/TCPControlUnit.h>
-#include <RobotAPI/units/TCPControlUnitObserver.h>
+#include <RobotAPI/libraries/units/TCPControlUnit.h>
+#include <RobotAPI/libraries/units/TCPControlUnitObserver.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/TCPMoverUnit/TCPMoverUnitApp.h b/source/RobotAPI/applications/TCPMoverUnit/TCPMoverUnitApp.h
index f03d33496..8844be8b3 100644
--- a/source/RobotAPI/applications/TCPMoverUnit/TCPMoverUnitApp.h
+++ b/source/RobotAPI/applications/TCPMoverUnit/TCPMoverUnitApp.h
@@ -23,7 +23,7 @@
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/TCPMoverUnit.h>
+#include <RobotAPI/libraries/units/TCPMoverUnit.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/WeissHapticSensor/WeissHapticSensorApp.h b/source/RobotAPI/applications/WeissHapticSensor/WeissHapticSensorApp.h
index ef4be9267..accfa8940 100644
--- a/source/RobotAPI/applications/WeissHapticSensor/WeissHapticSensorApp.h
+++ b/source/RobotAPI/applications/WeissHapticSensor/WeissHapticSensorApp.h
@@ -25,10 +25,10 @@
#define _ARMARX_APPLICATION_RobotAPI_WeissHapticSensor_H
-#include <RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h>
+#include <RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h>
#include <Core/core/application/Application.h>
-#include <RobotAPI/units/HapticObserver.h>
+#include <RobotAPI/libraries/units/HapticObserver.h>
namespace armarx
{
diff --git a/source/RobotAPI/applications/WeissHapticSensorsUnit/WeissHapticSensorsUnitApp.h b/source/RobotAPI/applications/WeissHapticSensorsUnit/WeissHapticSensorsUnitApp.h
index 275ac1599..7c1d806ae 100644
--- a/source/RobotAPI/applications/WeissHapticSensorsUnit/WeissHapticSensorsUnitApp.h
+++ b/source/RobotAPI/applications/WeissHapticSensorsUnit/WeissHapticSensorsUnitApp.h
@@ -25,10 +25,10 @@
#define _ARMARX_APPLICATION_RobotAPI_WeissHapticSensorsUnit_H
-// #include <RobotAPI/armarx-objects/@MyComponent@.h>
+// #include <RobotAPI/components/@MyComponent@.h>
#include <Core/core/application/Application.h>
-#include <RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h>
+#include <RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h>
namespace armarx
{
diff --git a/source/RobotAPI/armarx-objects/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/armarx-objects/CMakeLists.txt
rename to source/RobotAPI/components/CMakeLists.txt
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt b/source/RobotAPI/components/WeissHapticSensorListener/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt
rename to source/RobotAPI/components/WeissHapticSensorListener/CMakeLists.txt
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp b/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.cpp
similarity index 100%
rename from source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp
rename to source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.cpp
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h b/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h
similarity index 100%
rename from source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h
rename to source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/CMakeLists.txt b/source/RobotAPI/components/WeissHapticSensorListener/test/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/CMakeLists.txt
rename to source/RobotAPI/components/WeissHapticSensorListener/test/CMakeLists.txt
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp b/source/RobotAPI/components/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
similarity index 93%
rename from source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
rename to source/RobotAPI/components/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
index e6da98a32..4d6aeba35 100644
--- a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
+++ b/source/RobotAPI/components/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
@@ -26,7 +26,7 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include <RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h>
+#include <RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h>
#include <iostream>
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
new file mode 100644
index 000000000..c076ed5f6
--- /dev/null
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -0,0 +1,5 @@
+add_subdirectory(drivers)
+add_subdirectory(robotstate)
+add_subdirectory(robotstate/remote)
+add_subdirectory(units)
+add_subdirectory(core)
diff --git a/source/RobotAPI/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/core/CMakeLists.txt
rename to source/RobotAPI/libraries/core/CMakeLists.txt
diff --git a/source/RobotAPI/core/RobotStatechartContext.cpp b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
similarity index 97%
rename from source/RobotAPI/core/RobotStatechartContext.cpp
rename to source/RobotAPI/libraries/core/RobotStatechartContext.cpp
index 5b94b441d..3beacb14e 100644
--- a/source/RobotAPI/core/RobotStatechartContext.cpp
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
@@ -23,8 +23,8 @@
#include "RobotStatechartContext.h"
-#include <RobotAPI/robotstate/remote/RemoteRobot.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <Core/core/Component.h>
#include <Core/core/system/ImportExportComponent.h>
diff --git a/source/RobotAPI/core/RobotStatechartContext.h b/source/RobotAPI/libraries/core/RobotStatechartContext.h
similarity index 98%
rename from source/RobotAPI/core/RobotStatechartContext.h
rename to source/RobotAPI/libraries/core/RobotStatechartContext.h
index e214339d0..9003e957f 100644
--- a/source/RobotAPI/core/RobotStatechartContext.h
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.h
@@ -25,7 +25,7 @@
#ifndef ARMARX_COMPONENT_RobotApi_StatechartContext_H
#define ARMARX_COMPONENT_RobotApi_StatechartContext_H
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
#include <RobotAPI/interface/units/TCPControlUnit.h>
diff --git a/source/RobotAPI/drivers/CMakeLists.txt b/source/RobotAPI/libraries/drivers/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/drivers/CMakeLists.txt
rename to source/RobotAPI/libraries/drivers/CMakeLists.txt
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/CMakeLists.txt
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationHelper.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationHelper.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationHelper.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationHelper.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationInfo.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationInfo.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationInfo.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationInfo.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Response.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Response.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/Response.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/Response.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TextWriter.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/TextWriter.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TextWriter.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/TextWriter.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TransmissionException.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/TransmissionException.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Types.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Types.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/Types.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/Types.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
similarity index 100%
rename from source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
similarity index 95%
rename from source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
rename to source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
index 797a8f430..40857f2cb 100755
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
@@ -24,7 +24,7 @@
#ifndef ARMAR4_FT_UNIT_ARMAR4_H
#define ARMAR4_FT_UNIT_ARMAR4_H
-#include <RobotAPI/units/HapticUnit.h>
+#include <RobotAPI/libraries/units/HapticUnit.h>
//#include <Core/interface/units/
#include <Core/core/system/ImportExportComponent.h>
diff --git a/source/RobotAPI/robotstate/CMakeLists.txt b/source/RobotAPI/libraries/robotstate/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/robotstate/CMakeLists.txt
rename to source/RobotAPI/libraries/robotstate/CMakeLists.txt
diff --git a/source/RobotAPI/robotstate/RobotStateComponent.cpp b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
similarity index 100%
rename from source/RobotAPI/robotstate/RobotStateComponent.cpp
rename to source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
diff --git a/source/RobotAPI/robotstate/RobotStateComponent.h b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
similarity index 100%
rename from source/RobotAPI/robotstate/RobotStateComponent.h
rename to source/RobotAPI/libraries/robotstate/RobotStateComponent.h
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.cpp b/source/RobotAPI/libraries/robotstate/SharedRobotServants.cpp
similarity index 100%
rename from source/RobotAPI/robotstate/SharedRobotServants.cpp
rename to source/RobotAPI/libraries/robotstate/SharedRobotServants.cpp
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.h b/source/RobotAPI/libraries/robotstate/SharedRobotServants.h
similarity index 98%
rename from source/RobotAPI/robotstate/SharedRobotServants.h
rename to source/RobotAPI/libraries/robotstate/SharedRobotServants.h
index 735682fbb..49f42dda5 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.h
+++ b/source/RobotAPI/libraries/robotstate/SharedRobotServants.h
@@ -3,7 +3,7 @@
#include <Core/core/Component.h>
#include <Core/core/system/ImportExportComponent.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <RobotAPI/interface/robotstate/RobotState.h>
diff --git a/source/RobotAPI/robotstate/remote/ArmarPose.cpp b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp
similarity index 100%
rename from source/RobotAPI/robotstate/remote/ArmarPose.cpp
rename to source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp
diff --git a/source/RobotAPI/robotstate/remote/ArmarPose.h b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
similarity index 100%
rename from source/RobotAPI/robotstate/remote/ArmarPose.h
rename to source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
diff --git a/source/RobotAPI/robotstate/remote/CMakeLists.txt b/source/RobotAPI/libraries/robotstate/remote/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/robotstate/remote/CMakeLists.txt
rename to source/RobotAPI/libraries/robotstate/remote/CMakeLists.txt
diff --git a/source/RobotAPI/robotstate/remote/LinkedPose.cpp b/source/RobotAPI/libraries/robotstate/remote/LinkedPose.cpp
similarity index 100%
rename from source/RobotAPI/robotstate/remote/LinkedPose.cpp
rename to source/RobotAPI/libraries/robotstate/remote/LinkedPose.cpp
diff --git a/source/RobotAPI/robotstate/remote/LinkedPose.h b/source/RobotAPI/libraries/robotstate/remote/LinkedPose.h
similarity index 100%
rename from source/RobotAPI/robotstate/remote/LinkedPose.h
rename to source/RobotAPI/libraries/robotstate/remote/LinkedPose.h
diff --git a/source/RobotAPI/robotstate/remote/RemoteRobot.cpp b/source/RobotAPI/libraries/robotstate/remote/RemoteRobot.cpp
similarity index 100%
rename from source/RobotAPI/robotstate/remote/RemoteRobot.cpp
rename to source/RobotAPI/libraries/robotstate/remote/RemoteRobot.cpp
diff --git a/source/RobotAPI/robotstate/remote/RemoteRobot.h b/source/RobotAPI/libraries/robotstate/remote/RemoteRobot.h
similarity index 100%
rename from source/RobotAPI/robotstate/remote/RemoteRobot.h
rename to source/RobotAPI/libraries/robotstate/remote/RemoteRobot.h
diff --git a/source/RobotAPI/robotstate/remote/RemoteRobotNode.cpp b/source/RobotAPI/libraries/robotstate/remote/RemoteRobotNode.cpp
similarity index 100%
rename from source/RobotAPI/robotstate/remote/RemoteRobotNode.cpp
rename to source/RobotAPI/libraries/robotstate/remote/RemoteRobotNode.cpp
diff --git a/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.cpp b/source/RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.cpp
similarity index 100%
rename from source/RobotAPI/robotstate/remote/RobotStateObjectFactories.cpp
rename to source/RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.cpp
diff --git a/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.h b/source/RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h
similarity index 97%
rename from source/RobotAPI/robotstate/remote/RobotStateObjectFactories.h
rename to source/RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h
index d9bf208af..fcce4ea9a 100644
--- a/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.h
+++ b/source/RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h
@@ -27,9 +27,9 @@
#include <Core/core/system/FactoryCollectionBase.h>
#include <RobotAPI/interface/robotstate/PoseBase.h>
#include <RobotAPI/interface/robotstate/RobotState.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <RobotAPI/interface/robotstate/LinkedPoseBase.h>
-#include <RobotAPI/robotstate/remote/LinkedPose.h>
+#include <RobotAPI/libraries/robotstate/remote/LinkedPose.h>
#include <Ice/Ice.h>
namespace armarx
diff --git a/source/RobotAPI/robotstate/remote/RobotStateObserver.cpp b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
similarity index 98%
rename from source/RobotAPI/robotstate/remote/RobotStateObserver.cpp
rename to source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
index fb9d0b347..83871e4fb 100644
--- a/source/RobotAPI/robotstate/remote/RobotStateObserver.cpp
+++ b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
@@ -22,13 +22,13 @@
*/
#include "RobotStateObserver.h"
-#include <RobotAPI/robotstate/RobotStateComponent.h>
+#include <RobotAPI/libraries/robotstate/RobotStateComponent.h>
#include <Core/observers/checks/ConditionCheckEquals.h>
#include <Core/observers/checks/ConditionCheckInRange.h>
#include <Core/observers/checks/ConditionCheckLarger.h>
#include <Core/observers/checks/ConditionCheckSmaller.h>
-#include <RobotAPI/robotstate/remote/RemoteRobot.h>
+#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/RobotNodeSet.h>
diff --git a/source/RobotAPI/robotstate/remote/RobotStateObserver.h b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h
similarity index 100%
rename from source/RobotAPI/robotstate/remote/RobotStateObserver.h
rename to source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h
diff --git a/source/RobotAPI/robotstate/remote/checks/ConditionCheckEqualsPose.h b/source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckEqualsPose.h
similarity index 100%
rename from source/RobotAPI/robotstate/remote/checks/ConditionCheckEqualsPose.h
rename to source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckEqualsPose.h
diff --git a/source/RobotAPI/robotstate/remote/checks/ConditionCheckEqualsPoseWithTolerance.h b/source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckEqualsPoseWithTolerance.h
similarity index 100%
rename from source/RobotAPI/robotstate/remote/checks/ConditionCheckEqualsPoseWithTolerance.h
rename to source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckEqualsPoseWithTolerance.h
diff --git a/source/RobotAPI/robotstate/remote/checks/ConditionCheckMagnitudeChecks.cpp b/source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckMagnitudeChecks.cpp
similarity index 100%
rename from source/RobotAPI/robotstate/remote/checks/ConditionCheckMagnitudeChecks.cpp
rename to source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckMagnitudeChecks.cpp
diff --git a/source/RobotAPI/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h b/source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h
similarity index 78%
rename from source/RobotAPI/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h
rename to source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h
index e8c76a87b..f59c6d70e 100644
--- a/source/RobotAPI/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h
+++ b/source/RobotAPI/libraries/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h
@@ -3,8 +3,8 @@
#include <Core/core/system/ImportExport.h>
#include <Core/observers/ConditionCheck.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
-#include <RobotAPI/robotstate/remote/LinkedPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/LinkedPose.h>
namespace armarx {
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/libraries/units/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/units/CMakeLists.txt
rename to source/RobotAPI/libraries/units/CMakeLists.txt
diff --git a/source/RobotAPI/units/ForceTorqueObserver.cpp b/source/RobotAPI/libraries/units/ForceTorqueObserver.cpp
similarity index 98%
rename from source/RobotAPI/units/ForceTorqueObserver.cpp
rename to source/RobotAPI/libraries/units/ForceTorqueObserver.cpp
index b4a40e79f..4ad628838 100644
--- a/source/RobotAPI/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/libraries/units/ForceTorqueObserver.cpp
@@ -5,9 +5,9 @@
#include <Core/observers/checks/ConditionCheckInRange.h>
#include <Core/observers/checks/ConditionCheckLarger.h>
#include <Core/observers/checks/ConditionCheckSmaller.h>
-#include <RobotAPI/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
+#include <RobotAPI/libraries/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
-#include <RobotAPI/robotstate/remote/RobotStateObjectFactories.h>
+#include <RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h>
#define RAWFORCE "_rawforcevectors"
#define OFFSETFORCE "_forceswithoffsetvectors"
diff --git a/source/RobotAPI/units/ForceTorqueObserver.h b/source/RobotAPI/libraries/units/ForceTorqueObserver.h
similarity index 97%
rename from source/RobotAPI/units/ForceTorqueObserver.h
rename to source/RobotAPI/libraries/units/ForceTorqueObserver.h
index 2680f4eec..b25a84881 100644
--- a/source/RobotAPI/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/libraries/units/ForceTorqueObserver.h
@@ -2,7 +2,7 @@
#define _ARMARX_ROBOTAPI_FORCETORQUEOBSERVER_H
#include <RobotAPI/interface/units/ForceTorqueUnit.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <Core/observers/Observer.h>
namespace armarx
diff --git a/source/RobotAPI/units/ForceTorqueUnit.cpp b/source/RobotAPI/libraries/units/ForceTorqueUnit.cpp
similarity index 100%
rename from source/RobotAPI/units/ForceTorqueUnit.cpp
rename to source/RobotAPI/libraries/units/ForceTorqueUnit.cpp
diff --git a/source/RobotAPI/units/ForceTorqueUnit.h b/source/RobotAPI/libraries/units/ForceTorqueUnit.h
similarity index 98%
rename from source/RobotAPI/units/ForceTorqueUnit.h
rename to source/RobotAPI/libraries/units/ForceTorqueUnit.h
index 87e25449e..a00d98de9 100644
--- a/source/RobotAPI/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/libraries/units/ForceTorqueUnit.h
@@ -28,7 +28,7 @@
#include <Core/core/Component.h>
#include <Core/core/application/properties/Properties.h>
#include <Core/core/system/ImportExportComponent.h>
-#include "RobotAPI/units/SensorActorUnit.h"
+#include "RobotAPI/libraries/units/SensorActorUnit.h"
#include <RobotAPI/interface/units/ForceTorqueUnit.h>
diff --git a/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp b/source/RobotAPI/libraries/units/ForceTorqueUnitSimulation.cpp
similarity index 97%
rename from source/RobotAPI/units/ForceTorqueUnitSimulation.cpp
rename to source/RobotAPI/libraries/units/ForceTorqueUnitSimulation.cpp
index 575dc3f25..20751656c 100644
--- a/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp
+++ b/source/RobotAPI/libraries/units/ForceTorqueUnitSimulation.cpp
@@ -24,7 +24,7 @@
#include "ForceTorqueUnitSimulation.h"
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <boost/algorithm/string.hpp>
diff --git a/source/RobotAPI/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/libraries/units/ForceTorqueUnitSimulation.h
similarity index 98%
rename from source/RobotAPI/units/ForceTorqueUnitSimulation.h
rename to source/RobotAPI/libraries/units/ForceTorqueUnitSimulation.h
index b4ec73b38..5557b98a3 100644
--- a/source/RobotAPI/units/ForceTorqueUnitSimulation.h
+++ b/source/RobotAPI/libraries/units/ForceTorqueUnitSimulation.h
@@ -28,7 +28,7 @@
#include <Core/core/services/tasks/PeriodicTask.h>
#include <Core/core/system/ImportExportComponent.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <IceUtil/Time.h>
diff --git a/source/RobotAPI/units/HandUnit.cpp b/source/RobotAPI/libraries/units/HandUnit.cpp
similarity index 100%
rename from source/RobotAPI/units/HandUnit.cpp
rename to source/RobotAPI/libraries/units/HandUnit.cpp
diff --git a/source/RobotAPI/units/HandUnit.h b/source/RobotAPI/libraries/units/HandUnit.h
similarity index 99%
rename from source/RobotAPI/units/HandUnit.h
rename to source/RobotAPI/libraries/units/HandUnit.h
index 6275621d9..f4ca4833e 100644
--- a/source/RobotAPI/units/HandUnit.h
+++ b/source/RobotAPI/libraries/units/HandUnit.h
@@ -24,7 +24,7 @@
#ifndef _ARMARX_CORE_UNITS_HANDUNIT_H
#define _ARMARX_CORE_UNITS_HANDUNIT_H
-#include <RobotAPI/units/SensorActorUnit.h>
+#include <RobotAPI/libraries/units/SensorActorUnit.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
diff --git a/source/RobotAPI/units/HandUnitObserver.cpp b/source/RobotAPI/libraries/units/HandUnitObserver.cpp
similarity index 100%
rename from source/RobotAPI/units/HandUnitObserver.cpp
rename to source/RobotAPI/libraries/units/HandUnitObserver.cpp
diff --git a/source/RobotAPI/units/HandUnitObserver.h b/source/RobotAPI/libraries/units/HandUnitObserver.h
similarity index 100%
rename from source/RobotAPI/units/HandUnitObserver.h
rename to source/RobotAPI/libraries/units/HandUnitObserver.h
diff --git a/source/RobotAPI/units/HandUnitSimulation.cpp b/source/RobotAPI/libraries/units/HandUnitSimulation.cpp
similarity index 100%
rename from source/RobotAPI/units/HandUnitSimulation.cpp
rename to source/RobotAPI/libraries/units/HandUnitSimulation.cpp
diff --git a/source/RobotAPI/units/HandUnitSimulation.h b/source/RobotAPI/libraries/units/HandUnitSimulation.h
similarity index 100%
rename from source/RobotAPI/units/HandUnitSimulation.h
rename to source/RobotAPI/libraries/units/HandUnitSimulation.h
diff --git a/source/RobotAPI/units/HapticObserver.cpp b/source/RobotAPI/libraries/units/HapticObserver.cpp
similarity index 95%
rename from source/RobotAPI/units/HapticObserver.cpp
rename to source/RobotAPI/libraries/units/HapticObserver.cpp
index cc83771e2..d5555c2a2 100644
--- a/source/RobotAPI/units/HapticObserver.cpp
+++ b/source/RobotAPI/libraries/units/HapticObserver.cpp
@@ -5,9 +5,9 @@
#include <Core/observers/checks/ConditionCheckInRange.h>
#include <Core/observers/checks/ConditionCheckLarger.h>
#include <Core/observers/checks/ConditionCheckSmaller.h>
-#include <RobotAPI/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
+#include <RobotAPI/libraries/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
-#include <RobotAPI/robotstate/remote/RobotStateObjectFactories.h>
+#include <RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h>
#include <Eigen/Dense>
#include <Core/observers/variant/TimestampVariant.h>
diff --git a/source/RobotAPI/units/HapticObserver.h b/source/RobotAPI/libraries/units/HapticObserver.h
similarity index 100%
rename from source/RobotAPI/units/HapticObserver.h
rename to source/RobotAPI/libraries/units/HapticObserver.h
diff --git a/source/RobotAPI/units/HapticUnit.cpp b/source/RobotAPI/libraries/units/HapticUnit.cpp
similarity index 100%
rename from source/RobotAPI/units/HapticUnit.cpp
rename to source/RobotAPI/libraries/units/HapticUnit.cpp
diff --git a/source/RobotAPI/units/HapticUnit.h b/source/RobotAPI/libraries/units/HapticUnit.h
similarity index 97%
rename from source/RobotAPI/units/HapticUnit.h
rename to source/RobotAPI/libraries/units/HapticUnit.h
index 1694550e4..11907246e 100644
--- a/source/RobotAPI/units/HapticUnit.h
+++ b/source/RobotAPI/libraries/units/HapticUnit.h
@@ -27,7 +27,7 @@
#include <Core/core/Component.h>
#include <Core/core/application/properties/Properties.h>
#include <Core/core/system/ImportExportComponent.h>
-#include "RobotAPI/units/SensorActorUnit.h"
+#include "RobotAPI/libraries/units/SensorActorUnit.h"
#include <RobotAPI/interface/units/HapticUnit.h>
diff --git a/source/RobotAPI/units/HardwareUnit.cpp b/source/RobotAPI/libraries/units/HardwareUnit.cpp
similarity index 100%
rename from source/RobotAPI/units/HardwareUnit.cpp
rename to source/RobotAPI/libraries/units/HardwareUnit.cpp
diff --git a/source/RobotAPI/units/HardwareUnit.h b/source/RobotAPI/libraries/units/HardwareUnit.h
similarity index 100%
rename from source/RobotAPI/units/HardwareUnit.h
rename to source/RobotAPI/libraries/units/HardwareUnit.h
diff --git a/source/RobotAPI/units/HeadIKUnit.cpp b/source/RobotAPI/libraries/units/HeadIKUnit.cpp
similarity index 100%
rename from source/RobotAPI/units/HeadIKUnit.cpp
rename to source/RobotAPI/libraries/units/HeadIKUnit.cpp
diff --git a/source/RobotAPI/units/HeadIKUnit.h b/source/RobotAPI/libraries/units/HeadIKUnit.h
similarity index 96%
rename from source/RobotAPI/units/HeadIKUnit.h
rename to source/RobotAPI/libraries/units/HeadIKUnit.h
index 8b09ca71e..fe1d347ad 100644
--- a/source/RobotAPI/units/HeadIKUnit.h
+++ b/source/RobotAPI/libraries/units/HeadIKUnit.h
@@ -27,8 +27,8 @@
#include <Core/core/Component.h>
#include <Core/core/services/tasks/PeriodicTask.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
-#include <RobotAPI/robotstate/remote/RemoteRobot.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
#include <RobotAPI/interface/units/HeadIKUnit.h>
diff --git a/source/RobotAPI/units/KinematicUnit.cpp b/source/RobotAPI/libraries/units/KinematicUnit.cpp
similarity index 100%
rename from source/RobotAPI/units/KinematicUnit.cpp
rename to source/RobotAPI/libraries/units/KinematicUnit.cpp
diff --git a/source/RobotAPI/units/KinematicUnit.h b/source/RobotAPI/libraries/units/KinematicUnit.h
similarity index 98%
rename from source/RobotAPI/units/KinematicUnit.h
rename to source/RobotAPI/libraries/units/KinematicUnit.h
index 084106dfe..7960ccd68 100644
--- a/source/RobotAPI/units/KinematicUnit.h
+++ b/source/RobotAPI/libraries/units/KinematicUnit.h
@@ -24,7 +24,7 @@
#ifndef _ARMARX_COMPONENT_KINEMATIC_UNIT_H
#define _ARMARX_COMPONENT_KINEMATIC_UNIT_H
-#include <RobotAPI/units/SensorActorUnit.h>
+#include <RobotAPI/libraries/units/SensorActorUnit.h>
#include <Core/core/Component.h>
#include <Core/core/application/properties/Properties.h>
diff --git a/source/RobotAPI/units/KinematicUnitObserver.cpp b/source/RobotAPI/libraries/units/KinematicUnitObserver.cpp
similarity index 100%
rename from source/RobotAPI/units/KinematicUnitObserver.cpp
rename to source/RobotAPI/libraries/units/KinematicUnitObserver.cpp
diff --git a/source/RobotAPI/units/KinematicUnitObserver.h b/source/RobotAPI/libraries/units/KinematicUnitObserver.h
similarity index 100%
rename from source/RobotAPI/units/KinematicUnitObserver.h
rename to source/RobotAPI/libraries/units/KinematicUnitObserver.h
diff --git a/source/RobotAPI/units/KinematicUnitSimulation.cpp b/source/RobotAPI/libraries/units/KinematicUnitSimulation.cpp
similarity index 100%
rename from source/RobotAPI/units/KinematicUnitSimulation.cpp
rename to source/RobotAPI/libraries/units/KinematicUnitSimulation.cpp
diff --git a/source/RobotAPI/units/KinematicUnitSimulation.h b/source/RobotAPI/libraries/units/KinematicUnitSimulation.h
similarity index 100%
rename from source/RobotAPI/units/KinematicUnitSimulation.h
rename to source/RobotAPI/libraries/units/KinematicUnitSimulation.h
diff --git a/source/RobotAPI/units/PlatformUnit.cpp b/source/RobotAPI/libraries/units/PlatformUnit.cpp
similarity index 100%
rename from source/RobotAPI/units/PlatformUnit.cpp
rename to source/RobotAPI/libraries/units/PlatformUnit.cpp
diff --git a/source/RobotAPI/units/PlatformUnit.h b/source/RobotAPI/libraries/units/PlatformUnit.h
similarity index 98%
rename from source/RobotAPI/units/PlatformUnit.h
rename to source/RobotAPI/libraries/units/PlatformUnit.h
index 73e0f1fb7..d50b829c0 100644
--- a/source/RobotAPI/units/PlatformUnit.h
+++ b/source/RobotAPI/libraries/units/PlatformUnit.h
@@ -24,7 +24,7 @@
#ifndef _ARMARX_CORE_UNITS_PLATFROMUNIT_H
#define _ARMARX_CORE_UNITS_PLATFROMUNIT_H
-#include <RobotAPI/units/SensorActorUnit.h>
+#include <RobotAPI/libraries/units/SensorActorUnit.h>
#include <Core/core/application/properties/Properties.h>
#include <Core/core/system/ImportExportComponent.h>
diff --git a/source/RobotAPI/units/PlatformUnitObserver.cpp b/source/RobotAPI/libraries/units/PlatformUnitObserver.cpp
similarity index 100%
rename from source/RobotAPI/units/PlatformUnitObserver.cpp
rename to source/RobotAPI/libraries/units/PlatformUnitObserver.cpp
diff --git a/source/RobotAPI/units/PlatformUnitObserver.h b/source/RobotAPI/libraries/units/PlatformUnitObserver.h
similarity index 100%
rename from source/RobotAPI/units/PlatformUnitObserver.h
rename to source/RobotAPI/libraries/units/PlatformUnitObserver.h
diff --git a/source/RobotAPI/units/PlatformUnitSimulation.cpp b/source/RobotAPI/libraries/units/PlatformUnitSimulation.cpp
similarity index 100%
rename from source/RobotAPI/units/PlatformUnitSimulation.cpp
rename to source/RobotAPI/libraries/units/PlatformUnitSimulation.cpp
diff --git a/source/RobotAPI/units/PlatformUnitSimulation.h b/source/RobotAPI/libraries/units/PlatformUnitSimulation.h
similarity index 100%
rename from source/RobotAPI/units/PlatformUnitSimulation.h
rename to source/RobotAPI/libraries/units/PlatformUnitSimulation.h
diff --git a/source/RobotAPI/units/SensorActorUnit.cpp b/source/RobotAPI/libraries/units/SensorActorUnit.cpp
similarity index 100%
rename from source/RobotAPI/units/SensorActorUnit.cpp
rename to source/RobotAPI/libraries/units/SensorActorUnit.cpp
diff --git a/source/RobotAPI/units/SensorActorUnit.h b/source/RobotAPI/libraries/units/SensorActorUnit.h
similarity index 100%
rename from source/RobotAPI/units/SensorActorUnit.h
rename to source/RobotAPI/libraries/units/SensorActorUnit.h
diff --git a/source/RobotAPI/units/TCPControlUnit.cpp b/source/RobotAPI/libraries/units/TCPControlUnit.cpp
similarity index 99%
rename from source/RobotAPI/units/TCPControlUnit.cpp
rename to source/RobotAPI/libraries/units/TCPControlUnit.cpp
index a0f8424a7..c7c3f20b0 100644
--- a/source/RobotAPI/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/libraries/units/TCPControlUnit.cpp
@@ -22,7 +22,7 @@
*/
#include "TCPControlUnit.h"
-#include <RobotAPI/robotstate/remote/LinkedPose.h>
+#include <RobotAPI/libraries/robotstate/remote/LinkedPose.h>
#include <boost/unordered_map.hpp>
diff --git a/source/RobotAPI/units/TCPControlUnit.h b/source/RobotAPI/libraries/units/TCPControlUnit.h
similarity index 98%
rename from source/RobotAPI/units/TCPControlUnit.h
rename to source/RobotAPI/libraries/units/TCPControlUnit.h
index 3349a4178..ebb234aff 100644
--- a/source/RobotAPI/units/TCPControlUnit.h
+++ b/source/RobotAPI/libraries/units/TCPControlUnit.h
@@ -25,12 +25,12 @@
#define _ARMARX_TCPCONTROLUNIT_H
#include <RobotAPI/interface/units/TCPControlUnit.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <Core/core/services/tasks/PeriodicTask.h>
#include <Core/core/Component.h>
#include <VirtualRobot/IK/DifferentialIK.h>
-#include <RobotAPI/robotstate/remote/RemoteRobot.h>
+#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
#include <Core/interface/observers/ObserverInterface.h>
namespace armarx {
diff --git a/source/RobotAPI/units/TCPControlUnitObserver.cpp b/source/RobotAPI/libraries/units/TCPControlUnitObserver.cpp
similarity index 98%
rename from source/RobotAPI/units/TCPControlUnitObserver.cpp
rename to source/RobotAPI/libraries/units/TCPControlUnitObserver.cpp
index 685c73779..3b71cdf76 100644
--- a/source/RobotAPI/units/TCPControlUnitObserver.cpp
+++ b/source/RobotAPI/libraries/units/TCPControlUnitObserver.cpp
@@ -29,7 +29,7 @@
#include <Core/observers/checks/ConditionCheckInRange.h>
#include <Core/observers/checks/ConditionCheckLarger.h>
#include <Core/observers/checks/ConditionCheckSmaller.h>
-#include <RobotAPI/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
+#include <RobotAPI/libraries/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
#include <Core/core/exceptions/local/ExpressionException.h>
#define TCP_POSE_CHANNEL "TCPPose"
diff --git a/source/RobotAPI/units/TCPControlUnitObserver.h b/source/RobotAPI/libraries/units/TCPControlUnitObserver.h
similarity index 99%
rename from source/RobotAPI/units/TCPControlUnitObserver.h
rename to source/RobotAPI/libraries/units/TCPControlUnitObserver.h
index 20f00a1cc..44dc8db80 100644
--- a/source/RobotAPI/units/TCPControlUnitObserver.h
+++ b/source/RobotAPI/libraries/units/TCPControlUnitObserver.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/units/TCPMoverUnit.cpp b/source/RobotAPI/libraries/units/TCPMoverUnit.cpp
similarity index 99%
rename from source/RobotAPI/units/TCPMoverUnit.cpp
rename to source/RobotAPI/libraries/units/TCPMoverUnit.cpp
index dc16e5a60..aa9366587 100644
--- a/source/RobotAPI/units/TCPMoverUnit.cpp
+++ b/source/RobotAPI/libraries/units/TCPMoverUnit.cpp
@@ -24,7 +24,7 @@
#include "TCPMoverUnit.h"
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <Core/core/system/ArmarXDataPath.h>
//VirtualRobot
diff --git a/source/RobotAPI/units/TCPMoverUnit.h b/source/RobotAPI/libraries/units/TCPMoverUnit.h
similarity index 100%
rename from source/RobotAPI/units/TCPMoverUnit.h
rename to source/RobotAPI/libraries/units/TCPMoverUnit.h
diff --git a/source/RobotAPI/statecharts/CMakeLists.txt b/source/RobotAPI/statecharts/CMakeLists.txt
index 43dd2a1df..a6638cd7a 100644
--- a/source/RobotAPI/statecharts/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/CMakeLists.txt
@@ -4,4 +4,7 @@ add_subdirectory(MovePlatform)
add_subdirectory(MovePlatformToLandmark)
add_subdirectory(PlaceObject)
-add_subdirectory(MotionControlGroup)
\ No newline at end of file
+add_subdirectory(MotionControlGroup)
+
+add_subdirectory(operations)
+add_subdirectory(motioncontrol)
diff --git a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
index 207ef01cf..619ea50ce 100644
--- a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
+++ b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
@@ -24,18 +24,18 @@
#include "GraspingWithTorques.h"
//#include "Armar3GraspContext.h" //MP: Maybe necessary again later?
-#include "../../core/RobotStatechartContext.h"
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
#include <Core/observers/variant/ChannelRef.h>
#include <Core/observers/variant/SingleTypeVariantList.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/Robot.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
-#include <RobotAPI/core/RobotStatechartContext.h>
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
namespace armarx
{
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroupRemoteStateOfferer.h
index 4c6cdc09c..519866c6f 100644
--- a/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroupRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroupRemoteStateOfferer.h
@@ -25,7 +25,7 @@
#define _ARMARX_XMLUSERCODE_RobotAPI_MotionControlGroup_REMOTESTATEOFFERER_H
#include <Core/statechart/xmlstates/XMLRemoteStateOfferer.h>
-#include <RobotAPI/core/RobotStatechartContext.h>
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
namespace armarx
{
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/MoveJoints.cpp b/source/RobotAPI/statecharts/MotionControlGroup/MoveJoints.cpp
index 3d37d50d4..fedaa516b 100644
--- a/source/RobotAPI/statecharts/MotionControlGroup/MoveJoints.cpp
+++ b/source/RobotAPI/statecharts/MotionControlGroup/MoveJoints.cpp
@@ -25,7 +25,7 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
-#include <RobotAPI/core/RobotStatechartContext.h>
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
using namespace armarx;
using namespace MotionControlGroup;
diff --git a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
index 17104797f..ad970c607 100644
--- a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
+++ b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
@@ -27,7 +27,7 @@
#include <Core/observers/variant/ChannelRef.h>
#include <Core/observers/variant/SingleTypeVariantList.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <VirtualRobot/IK/DifferentialIK.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
diff --git a/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h b/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
index e0e419bea..8b5774798 100644
--- a/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
+++ b/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
@@ -28,11 +28,11 @@
#include <Core/core/Component.h>
#include <Core/core/system/ImportExportComponent.h>
#include <Core/statechart/StatechartContext.h>
-#include <RobotAPI/robotstate/remote/RemoteRobot.h>
+#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
#include <RobotAPI/interface/observers/PlatformUnitObserverInterface.h>
-#include <RobotAPI/units/PlatformUnitObserver.h>
+#include <RobotAPI/libraries/units/PlatformUnitObserver.h>
//#include <VirtualRobot/VirtualRobot.h>
#include <IceUtil/Time.h>
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
index 206f5cc12..ff5d3f101 100644
--- a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
+++ b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
@@ -24,8 +24,8 @@
#include "MovePlatformToLandmark.h"
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
-#include <RobotAPI/robotstate/remote/RobotStateObjectFactories.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
#include <Core/core/ManagedIceObject.h>
diff --git a/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp b/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
index 46d23d1af..4b06aa306 100644
--- a/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
+++ b/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
@@ -23,11 +23,11 @@
*/
#include "OpenHand.h"
-#include "../../core/RobotStatechartContext.h"
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
-#include <RobotAPI/core/RobotStatechartContext.h>
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
#include <Core/observers/variant/ChannelRef.h>
diff --git a/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp b/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
index dd11b2bcb..ffe624d9d 100644
--- a/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
+++ b/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
@@ -23,12 +23,12 @@
*/
#include "PlaceObject.h"
-#include "../../core/RobotStatechartContext.h"
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
-#include <RobotAPI/core/RobotStatechartContext.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
-#include <RobotAPI/robotstate/remote/RemoteRobot.h>
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
#include <Core/observers/variant/ChannelRef.h>
#include <Core/observers/variant/SingleTypeVariantList.h>
diff --git a/source/RobotAPI/motioncontrol/CMakeLists.txt b/source/RobotAPI/statecharts/motioncontrol/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/motioncontrol/CMakeLists.txt
rename to source/RobotAPI/statecharts/motioncontrol/CMakeLists.txt
diff --git a/source/RobotAPI/motioncontrol/MotionControl.cpp b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
similarity index 99%
rename from source/RobotAPI/motioncontrol/MotionControl.cpp
rename to source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
index 01e4baf7d..0cd3afe68 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
@@ -1,7 +1,7 @@
#include "MotionControl.h"
// Core
-#include <RobotAPI/robotstate/remote/RemoteRobot.h>
+#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
#include <Core/observers/variant/ChannelRef.h>
#include <Core/observers/ConditionCheck.h>
#include <Core/core/system/ArmarXDataPath.h>
diff --git a/source/RobotAPI/motioncontrol/MotionControl.h b/source/RobotAPI/statecharts/motioncontrol/MotionControl.h
similarity index 99%
rename from source/RobotAPI/motioncontrol/MotionControl.h
rename to source/RobotAPI/statecharts/motioncontrol/MotionControl.h
index 3a5789f67..7e22a3d62 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.h
+++ b/source/RobotAPI/statecharts/motioncontrol/MotionControl.h
@@ -2,7 +2,7 @@
#define MOTIONCONTROL_H
#include <Core/statechart/Statechart.h>
-#include <RobotAPI/core/RobotStatechartContext.h>
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
namespace armarx
{
diff --git a/source/RobotAPI/motioncontrol/ZeroForceControl.cpp b/source/RobotAPI/statecharts/motioncontrol/ZeroForceControl.cpp
similarity index 97%
rename from source/RobotAPI/motioncontrol/ZeroForceControl.cpp
rename to source/RobotAPI/statecharts/motioncontrol/ZeroForceControl.cpp
index fb240c164..06ed58b15 100644
--- a/source/RobotAPI/motioncontrol/ZeroForceControl.cpp
+++ b/source/RobotAPI/statecharts/motioncontrol/ZeroForceControl.cpp
@@ -23,10 +23,10 @@
#include "ZeroForceControl.h"
-#include <RobotAPI/robotstate/remote/RobotStateObjectFactories.h>
+#include <RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h>
#include <Core/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/core/RobotStatechartContext.h>
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
namespace armarx {
diff --git a/source/RobotAPI/motioncontrol/ZeroForceControl.h b/source/RobotAPI/statecharts/motioncontrol/ZeroForceControl.h
similarity index 100%
rename from source/RobotAPI/motioncontrol/ZeroForceControl.h
rename to source/RobotAPI/statecharts/motioncontrol/ZeroForceControl.h
diff --git a/source/RobotAPI/operations/CMakeLists.txt b/source/RobotAPI/statecharts/operations/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/operations/CMakeLists.txt
rename to source/RobotAPI/statecharts/operations/CMakeLists.txt
diff --git a/source/RobotAPI/operations/RobotControl.cpp b/source/RobotAPI/statecharts/operations/RobotControl.cpp
similarity index 98%
rename from source/RobotAPI/operations/RobotControl.cpp
rename to source/RobotAPI/statecharts/operations/RobotControl.cpp
index 2e1f23c7f..c00198c26 100644
--- a/source/RobotAPI/operations/RobotControl.cpp
+++ b/source/RobotAPI/statecharts/operations/RobotControl.cpp
@@ -23,7 +23,7 @@
#include "RobotControl.h"
-#include <RobotAPI/units/KinematicUnitObserver.h>
+#include <RobotAPI/libraries/units/KinematicUnitObserver.h>
#include <Core/observers/variant/ChannelRef.h>
#include <Core/statechart/DynamicRemoteState.h>
diff --git a/source/RobotAPI/operations/RobotControl.h b/source/RobotAPI/statecharts/operations/RobotControl.h
similarity index 100%
rename from source/RobotAPI/operations/RobotControl.h
rename to source/RobotAPI/statecharts/operations/RobotControl.h
--
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