From 3b263469cf4267967e67c32e9562964e1e0bda3e Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 7 Jun 2022 17:03:01 +0200
Subject: [PATCH] Move file and update usage
---
VirtualRobot/CMakeLists.txt | 2 ++
.../{examples => Nodes}/HemisphereJoint/Expressions.cpp | 9 +++++++++
.../{examples => Nodes}/HemisphereJoint/Expressions.h | 9 +++++++++
VirtualRobot/examples/HemisphereJoint/CMakeLists.txt | 2 --
VirtualRobot/examples/HemisphereJoint/main.cpp | 5 ++---
5 files changed, 22 insertions(+), 5 deletions(-)
rename VirtualRobot/{examples => Nodes}/HemisphereJoint/Expressions.cpp (99%)
rename VirtualRobot/{examples => Nodes}/HemisphereJoint/Expressions.h (99%)
diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index dc0f6c16b..b1f94f6eb 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -335,6 +335,7 @@ SET(SOURCES
Nodes/RobotNodeRevolute.cpp
Nodes/RobotNodeRevoluteFactory.cpp
Nodes/Sensor.cpp
+ Nodes/HemisphereJoint/Expressions.cpp
TimeOptimalTrajectory/Path.cpp
TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
@@ -576,6 +577,7 @@ SET(INCLUDES
Nodes/RobotNodeRevoluteFactory.h
Nodes/Sensor.h
Nodes/SensorFactory.h
+ Nodes/HemisphereJoint/Expressions.h
TimeOptimalTrajectory/Path.h
TimeOptimalTrajectory/TimeOptimalTrajectory.h
diff --git a/VirtualRobot/examples/HemisphereJoint/Expressions.cpp b/VirtualRobot/Nodes/HemisphereJoint/Expressions.cpp
similarity index 99%
rename from VirtualRobot/examples/HemisphereJoint/Expressions.cpp
rename to VirtualRobot/Nodes/HemisphereJoint/Expressions.cpp
index 21e1652fe..12d078dfb 100644
--- a/VirtualRobot/examples/HemisphereJoint/Expressions.cpp
+++ b/VirtualRobot/Nodes/HemisphereJoint/Expressions.cpp
@@ -1,8 +1,15 @@
+/*
+ * This file was generated automatically on 2022-06-07 17:00.
+ */
+
#include "Expressions.h"
#include <cmath>
+namespace VirtualRobot::hemisphere
+{
+
void Expressions::compute(double a1, double a2, double lever, double theta0)
{
this->a1 = a1;
@@ -235,3 +242,5 @@ void Expressions::compute(double a1, double a2, double lever, double theta0)
jrz2 = _lever_pow_2;
}
+}
+
diff --git a/VirtualRobot/examples/HemisphereJoint/Expressions.h b/VirtualRobot/Nodes/HemisphereJoint/Expressions.h
similarity index 99%
rename from VirtualRobot/examples/HemisphereJoint/Expressions.h
rename to VirtualRobot/Nodes/HemisphereJoint/Expressions.h
index 549537b83..c0f820ed4 100644
--- a/VirtualRobot/examples/HemisphereJoint/Expressions.h
+++ b/VirtualRobot/Nodes/HemisphereJoint/Expressions.h
@@ -1,6 +1,13 @@
+/*
+ * This file was generated automatically on 2022-06-07 17:00.
+ */
+
#pragma once
+namespace VirtualRobot::hemisphere
+{
+
class Expressions
{
public:
@@ -241,3 +248,5 @@ public:
};
+}
+
diff --git a/VirtualRobot/examples/HemisphereJoint/CMakeLists.txt b/VirtualRobot/examples/HemisphereJoint/CMakeLists.txt
index ee16965bc..8ec94312f 100644
--- a/VirtualRobot/examples/HemisphereJoint/CMakeLists.txt
+++ b/VirtualRobot/examples/HemisphereJoint/CMakeLists.txt
@@ -5,10 +5,8 @@ find_package(Boost ${Simox_BOOST_VERSION} EXACT COMPONENTS system REQUIRED)
if (Boost_FOUND)
set(SOURCES
main.cpp
- Expressions.cpp
)
set(HEADERS
- Expressions.h
)
set(LIBS
diff --git a/VirtualRobot/examples/HemisphereJoint/main.cpp b/VirtualRobot/examples/HemisphereJoint/main.cpp
index 7b2d614fd..fc371c634 100644
--- a/VirtualRobot/examples/HemisphereJoint/main.cpp
+++ b/VirtualRobot/examples/HemisphereJoint/main.cpp
@@ -1,5 +1,3 @@
-#include "Expressions.h"
-
#include <chrono>
#include <iostream>
@@ -8,6 +6,7 @@
#include <SimoxUtility/math/statistics/measures.h>
#include <VirtualRobot/RuntimeEnvironment.h>
+#include <VirtualRobot/Nodes/HemisphereJoint/Expressions.h>
using VirtualRobot::RuntimeEnvironment;
@@ -61,7 +60,7 @@ int main(int argc, char* argv[])
{
const time_point start = std::chrono::system_clock::now();
- Expressions expr;
+ VirtualRobot::hemisphere::Expressions expr;
expr.compute(a1, a2, lever, theta0);
Eigen::Vector3d pos {expr.ex, expr.ey, expr.ez};
--
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