Fix header namespaces (#408)

* Fix include header path * Put everything inside package namespace * Install planner_cspace public headers
at-wat · Jan 2, 2020 · 2f7c632 · 2f7c632
1 parent 09669a3
commit 2f7c632
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Showing 35 changed files with 178 additions and 33 deletions.
diff --git a/costmap_cspace/CMakeLists.txt b/costmap_cspace/CMakeLists.txt
@@ -31,6 +31,9 @@ include_directories(include ${catkin_INCLUDE_DIRS})
 add_executable(costmap_3d src/costmap_3d.cpp src/costmap_3d_layers.cpp)
 target_link_libraries(costmap_3d ${catkin_LIBRARIES})
 add_dependencies(costmap_3d ${catkin_EXPORTED_TARGETS})
+set_property(TARGET costmap_3d PROPERTY PUBLIC_HEADER
+  include/costmap_cspace/pointcloud_accumulator.h
+)
 
 add_executable(laserscan_to_map src/laserscan_to_map.cpp)
 target_link_libraries(laserscan_to_map ${catkin_LIBRARIES})
@@ -63,7 +66,5 @@ install(TARGETS
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  PUBLIC_HEADER DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
diff --git a/...pace/pointcloud_accumulator/accumulator.h → ...e/costmap_cspace/pointcloud_accumulator.h b/...pace/pointcloud_accumulator/accumulator.h → ...e/costmap_cspace/pointcloud_accumulator.h
@@ -27,13 +27,15 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_ACCUMULATOR_H
-#define COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_ACCUMULATOR_H
+#ifndef COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_H
+#define COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_H
 
 #include <ros/ros.h>
 
 #include <list>
 
+namespace costmap_cspace
+{
 template <typename T>
 class PointcloudAccumurator
 {
@@ -106,5 +108,6 @@ class PointcloudAccumurator
   ros::Duration time_to_hold_;
   std::list<Points> points_;
 };
+}  // namespace costmap_cspace
 
-#endif  // COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_ACCUMULATOR_H
+#endif  // COSTMAP_CSPACE_POINTCLOUD_ACCUMULATOR_H
diff --git a/costmap_cspace/src/laserscan_to_map.cpp b/costmap_cspace/src/laserscan_to_map.cpp
@@ -38,7 +38,7 @@
 
 #include <string>
 
-#include <costmap_cspace/pointcloud_accumulator/accumulator.h>
+#include <costmap_cspace/pointcloud_accumulator.h>
 #include <neonavigation_common/compatibility.h>
 
 class LaserscanToMapNode
@@ -65,7 +65,7 @@ class LaserscanToMapNode
   float origin_x_;
   float origin_y_;
 
-  PointcloudAccumurator<sensor_msgs::PointCloud2> accum_;
+  costmap_cspace::PointcloudAccumurator<sensor_msgs::PointCloud2> accum_;
 
 public:
   LaserscanToMapNode()
@@ -121,7 +121,7 @@ class LaserscanToMapNode
     {
       ROS_WARN("%s", e.what());
     }
-    accum_.push(PointcloudAccumurator<sensor_msgs::PointCloud2>::Points(
+    accum_.push(costmap_cspace::PointcloudAccumurator<sensor_msgs::PointCloud2>::Points(
         cloud_global, cloud_global.header.stamp));
 
     ros::Time now = scan->header.stamp;

diff --git a/costmap_cspace/src/pointcloud2_to_map.cpp b/costmap_cspace/src/pointcloud2_to_map.cpp
@@ -38,7 +38,7 @@
 #include <string>
 #include <vector>
 
-#include <costmap_cspace/pointcloud_accumulator/accumulator.h>
+#include <costmap_cspace/pointcloud_accumulator.h>
 #include <neonavigation_common/compatibility.h>
 
 class Pointcloud2ToMapNode
@@ -65,7 +65,7 @@ class Pointcloud2ToMapNode
   float origin_x_;
   float origin_y_;
 
-  std::vector<PointcloudAccumurator<sensor_msgs::PointCloud2>> accums_;
+  std::vector<costmap_cspace::PointcloudAccumurator<sensor_msgs::PointCloud2>> accums_;
 
 public:
   Pointcloud2ToMapNode()
@@ -130,7 +130,7 @@ class Pointcloud2ToMapNode
     tf2::doTransform(*cloud, cloud_global, trans);
 
     const int buffer = singleshot ? 1 : 0;
-    accums_[buffer].push(PointcloudAccumurator<sensor_msgs::PointCloud2>::Points(
+    accums_[buffer].push(costmap_cspace::PointcloudAccumurator<sensor_msgs::PointCloud2>::Points(
         cloud_global, cloud_global.header.stamp));
 
     ros::Time now = cloud->header.stamp;

diff --git a/planner_cspace/CMakeLists.txt b/planner_cspace/CMakeLists.txt
@@ -27,6 +27,7 @@ find_package(catkin REQUIRED COMPONENTS ${CATKIN_DEPENDS})
 find_package(Boost REQUIRED COMPONENTS chrono)
 find_package(OpenMP REQUIRED)
 catkin_package(
+  INCLUDE_DIRS include
   CATKIN_DEPENDS ${CATKIN_DEPENDS}
 )
 
@@ -45,6 +46,15 @@ add_executable(planner_3d
 )
 target_link_libraries(planner_3d ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OpenMP_CXX_FLAGS})
 add_dependencies(planner_3d ${catkin_EXPORTED_TARGETS})
+set_property(TARGET planner_3d PROPERTY PUBLIC_HEADER
+  include/planner_cspace/bbf.h
+  include/planner_cspace/blockmem_gridmap.h
+  include/planner_cspace/cyclic_vec.h
+  include/planner_cspace/grid_astar.h
+  include/planner_cspace/grid_astar_model.h
+  include/planner_cspace/jump_detector.h
+  include/planner_cspace/reservable_priority_queue.h
+)
 
 add_executable(planner_2dof_serial_joints
   src/planner_2dof_serial_joints.cpp
@@ -80,4 +90,5 @@ install(TARGETS
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  PUBLIC_HEADER DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
diff --git a/planner_cspace/include/planner_cspace/bbf.h b/planner_cspace/include/planner_cspace/bbf.h
@@ -30,6 +30,8 @@
 #ifndef PLANNER_CSPACE_BBF_H
 #define PLANNER_CSPACE_BBF_H
 
+namespace planner_cspace
+{
 namespace bbf
 {
 constexpr float oddsToProbability(const float& o)
@@ -81,5 +83,6 @@ class BinaryBayesFilter
   }
 };
 };  // namespace bbf
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_BBF_H
diff --git a/planner_cspace/include/planner_cspace/blockmem_gridmap.h b/planner_cspace/include/planner_cspace/blockmem_gridmap.h
@@ -35,6 +35,8 @@
 
 #include <planner_cspace/cyclic_vec.h>
 
+namespace planner_cspace
+{
 template <class T, int DIM, int NONCYCLIC>
 class BlockMemGridmapBase
 {
@@ -215,5 +217,6 @@ class BlockMemGridmap : public BlockMemGridmapBase<T, DIM, NONCYCLIC>
     return *this;
   }
 };
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_BLOCKMEM_GRIDMAP_H
diff --git a/planner_cspace/include/planner_cspace/cyclic_vec.h b/planner_cspace/include/planner_cspace/cyclic_vec.h
@@ -44,6 +44,8 @@
 
 #include <planner_cspace/reservable_priority_queue.h>
 
+namespace planner_cspace
+{
 namespace cyclic_vec_type_conversion_rule
 {
 template <typename T>
@@ -334,4 +336,6 @@ using CyclicVecInt = CyclicVecBase<DIM, NONCYCLIC, int>;
 template <int DIM, int NONCYCLIC>
 using CyclicVecFloat = CyclicVecBase<DIM, NONCYCLIC, float>;
 
+}  // namespace planner_cspace
+
 #endif  // PLANNER_CSPACE_CYCLIC_VEC_H
diff --git a/planner_cspace/include/planner_cspace/grid_astar.h b/planner_cspace/include/planner_cspace/grid_astar.h
@@ -49,6 +49,8 @@
 
 #include <omp.h>
 
+namespace planner_cspace
+{
 template <int DIM = 3, int NONCYCLIC = 2>
 class GridAstar
 {
@@ -382,5 +384,6 @@ class GridAstar
   size_t queue_size_limit_;
   size_t search_task_num_;
 };
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_GRID_ASTAR_H
diff --git a/planner_cspace/include/planner_cspace/grid_astar_model.h b/planner_cspace/include/planner_cspace/grid_astar_model.h
@@ -35,6 +35,8 @@
 
 #include <planner_cspace/cyclic_vec.h>
 
+namespace planner_cspace
+{
 template <int DIM = 3, int NONCYCLIC = 2>
 class GridAstarModelBase
 {
@@ -62,5 +64,6 @@ class GridAstarModelBase
   virtual const std::vector<Vec>& searchGrids(
       const Vec& cur, const std::vector<VecWithCost>& start, const Vec& goal) const = 0;
 };
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_GRID_ASTAR_MODEL_H
diff --git a/...planner_cspace/planner_3d/jump_detector.h → ...ce/include/planner_cspace/jump_detector.h b/...planner_cspace/planner_3d/jump_detector.h → ...ce/include/planner_cspace/jump_detector.h
@@ -27,8 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PLANNER_CSPACE_PLANNER_3D_JUMP_DETECTOR_H
-#define PLANNER_CSPACE_PLANNER_3D_JUMP_DETECTOR_H
+#ifndef PLANNER_CSPACE_JUMP_DETECTOR_H
+#define PLANNER_CSPACE_JUMP_DETECTOR_H
 
 #include <cmath>
 #include <string>
@@ -39,6 +39,10 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/transform_listener.h>
 
+namespace planner_cspace
+{
+namespace planner_3d
+{
 class JumpDetector
 {
 protected:
@@ -117,5 +121,7 @@ class JumpDetector
     return false;
   }
 };
+}  // namespace planner_3d
+}  // namespace planner_cspace
 
-#endif  // PLANNER_CSPACE_PLANNER_3D_JUMP_DETECTOR_H
+#endif  // PLANNER_CSPACE_JUMP_DETECTOR_H
diff --git a/planner_cspace/include/planner_cspace/planner_2dof_serial_joints/grid_astar_model.h b/planner_cspace/include/planner_cspace/planner_2dof_serial_joints/grid_astar_model.h
@@ -37,6 +37,10 @@
 #include <planner_cspace/grid_astar_model.h>
 #include <planner_cspace/blockmem_gridmap.h>
 
+namespace planner_cspace
+{
+namespace planner_2dof_serial_joints
+{
 class CostCoeff
 {
 public:
@@ -77,5 +81,7 @@ class GridAstarModel2DoFSerialJoint : public GridAstarModelBase<2, 0>
       const std::vector<VecWithCost>& ss,
       const Vec& es) const override;
 };
+}  // namespace planner_2dof_serial_joints
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_PLANNER_2DOF_SERIAL_JOINTS_GRID_ASTAR_MODEL_H
diff --git a/planner_cspace/include/planner_cspace/planner_3d/grid_astar_model.h b/planner_cspace/include/planner_cspace/planner_3d/grid_astar_model.h
@@ -42,6 +42,10 @@
 #include <planner_cspace/grid_astar_model.h>
 #include <planner_cspace/blockmem_gridmap.h>
 
+namespace planner_cspace
+{
+namespace planner_3d
+{
 class CostCoeff
 {
 public:
@@ -137,5 +141,7 @@ class GridAstarModel2D : public GridAstarModelBase<3, 2>
   const std::vector<Vec>& searchGrids(
       const Vec& cur, const std::vector<VecWithCost>& start, const Vec& goal) const final;
 };
+}  // namespace planner_3d
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_PLANNER_3D_GRID_ASTAR_MODEL_H
diff --git a/planner_cspace/include/planner_cspace/planner_3d/grid_metric_converter.h b/planner_cspace/include/planner_cspace/planner_3d/grid_metric_converter.h
@@ -40,6 +40,10 @@
 
 #include <planner_cspace/cyclic_vec.h>
 
+namespace planner_cspace
+{
+namespace planner_3d
+{
 namespace grid_metric_converter
 {
 template <typename T>
@@ -97,5 +101,7 @@ void grid2MetricPath(
   }
 }
 }  // namespace grid_metric_converter
+}  // namespace planner_3d
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_PLANNER_3D_GRID_METRIC_CONVERTER_H
diff --git a/planner_cspace/include/planner_cspace/planner_3d/motion_cache.h b/planner_cspace/include/planner_cspace/planner_3d/motion_cache.h
@@ -35,6 +35,10 @@
 
 #include <planner_cspace/cyclic_vec.h>
 
+namespace planner_cspace
+{
+namespace planner_3d
+{
 class MotionCache
 {
 public:
@@ -96,5 +100,7 @@ class MotionCache
   int page_size_;
   CyclicVecInt<3, 2> max_range_;
 };
+}  // namespace planner_3d
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H
diff --git a/planner_cspace/include/planner_cspace/planner_3d/path_interpolator.h b/planner_cspace/include/planner_cspace/planner_3d/path_interpolator.h
@@ -35,6 +35,10 @@
 #include <planner_cspace/cyclic_vec.h>
 #include <planner_cspace/planner_3d/rotation_cache.h>
 
+namespace planner_cspace
+{
+namespace planner_3d
+{
 class PathInterpolator
 {
 private:
@@ -56,5 +60,7 @@ class PathInterpolator
       const float interval,
       const int local_range) const;
 };
+}  // namespace planner_3d
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H
diff --git a/planner_cspace/include/planner_cspace/planner_3d/rotation_cache.h b/planner_cspace/include/planner_cspace/planner_3d/rotation_cache.h
@@ -38,6 +38,10 @@
 
 #include <planner_cspace/cyclic_vec.h>
 
+namespace planner_cspace
+{
+namespace planner_3d
+{
 class RotationCache
 {
 private:
@@ -99,5 +103,7 @@ class RotationCache
       const float interval,
       const int local_range) const;
 };
+}  // namespace planner_3d
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_PLANNER_3D_ROTATION_CACHE_H
diff --git a/planner_cspace/include/planner_cspace/reservable_priority_queue.h b/planner_cspace/include/planner_cspace/reservable_priority_queue.h
@@ -32,6 +32,8 @@
 
 #include <queue>
 
+namespace planner_cspace
+{
 template <class T>
 class reservable_priority_queue : public std::priority_queue<T>
 {
@@ -58,5 +60,6 @@ class reservable_priority_queue : public std::priority_queue<T>
     this->c.pop_back();
   }
 };
+}  // namespace planner_cspace
 
 #endif  // PLANNER_CSPACE_RESERVABLE_PRIORITY_QUEUE_H
diff --git a/planner_cspace/src/grid_astar_model_2dof_joints.cpp b/planner_cspace/src/grid_astar_model_2dof_joints.cpp
@@ -37,6 +37,10 @@
 
 #include <planner_cspace/planner_2dof_serial_joints/grid_astar_model.h>
 
+namespace planner_cspace
+{
+namespace planner_2dof_serial_joints
+{
 GridAstarModel2DoFSerialJoint::GridAstarModel2DoFSerialJoint(
     const Vecf& euclid_cost_coef,
     const int resolution,
@@ -117,4 +121,5 @@ const std::vector<GridAstarModel2DoFSerialJoint::Vec>& GridAstarModel2DoFSerialJ
 {
   return search_list_;
 }
-
+}  // namespace planner_2dof_serial_joints
+}  // namespace planner_cspace