[core] Move sensors and motors in dedicated hardware directory. (#655)

duburcqa · Oct 17, 2023 · 8b2a18e · 8b2a18e
1 parent cad31a0
commit 8b2a18e
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Showing 20 changed files with 27 additions and 27 deletions.
diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
@@ -49,10 +49,10 @@ set(SRC
     "${CMAKE_CURRENT_SOURCE_DIR}/src/constraints/sphere_constraint.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/constraints/wheel_constraint.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/robot/model.cc"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/robot/abstract_motor.cc"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/robot/basic_motors.cc"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/robot/abstract_sensor.cc"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/robot/basic_sensors.cc"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/hardware/abstract_motor.cc"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/hardware/basic_motors.cc"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/hardware/abstract_sensor.cc"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/hardware/basic_sensors.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/robot/robot.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/control/abstract_controller.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/solver/constraint_solvers.cc"

diff --git a/core/examples/double_pendulum/double_pendulum.cc b/core/examples/double_pendulum/double_pendulum.cc
@@ -7,7 +7,7 @@
 #include <filesystem>
 
 #include "jiminy/core/engine/engine.h"
-#include "jiminy/core/robot/basic_motors.h"
+#include "jiminy/core/hardware/basic_motors.h"
 #include "jiminy/core/control/controller_functor.h"
 #include "jiminy/core/io/file_device.h"
 #include "jiminy/core/utilities/helpers.h"

diff --git a/core/examples/external_project/double_pendulum.cc b/core/examples/external_project/double_pendulum.cc
@@ -7,7 +7,7 @@
 #include <filesystem>
 
 #include "jiminy/core/engine/engine.h"
-#include "jiminy/core/robot/basic_motors.h"
+#include "jiminy/core/hardware/basic_motors.h"
 #include "jiminy/core/control/controller_functor.h"
 #include "jiminy/core/io/file_device.h"
 #include "jiminy/core/utilities/helpers.h"

diff --git a/...nclude/jiminy/core/robot/abstract_motor.h → ...ude/jiminy/core/hardware/abstract_motor.h b/...nclude/jiminy/core/robot/abstract_motor.h → ...ude/jiminy/core/hardware/abstract_motor.h
diff --git a/...clude/jiminy/core/robot/abstract_sensor.h → ...de/jiminy/core/hardware/abstract_sensor.h b/...clude/jiminy/core/robot/abstract_sensor.h → ...de/jiminy/core/hardware/abstract_sensor.h
@@ -485,6 +485,6 @@ namespace jiminy
     };
 }
 
-#include "jiminy/core/robot/abstract_sensor.hxx"
+#include "jiminy/core/hardware/abstract_sensor.hxx"
 
 #endif //end of JIMINY_ABSTRACT_SENSOR_H
diff --git a/...ude/jiminy/core/robot/abstract_sensor.hxx → .../jiminy/core/hardware/abstract_sensor.hxx b/...ude/jiminy/core/robot/abstract_sensor.hxx → .../jiminy/core/hardware/abstract_sensor.hxx
diff --git a/.../include/jiminy/core/robot/basic_motors.h → ...clude/jiminy/core/hardware/basic_motors.h b/.../include/jiminy/core/robot/basic_motors.h → ...clude/jiminy/core/hardware/basic_motors.h
@@ -1,7 +1,7 @@
 #ifndef JIMINY_BASIC_MOTORS_H
 #define JIMINY_BASIC_MOTORS_H
 
-#include "jiminy/core/robot/abstract_motor.h"
+#include "jiminy/core/hardware/abstract_motor.h"
 
 
 namespace jiminy

diff --git a/...include/jiminy/core/robot/basic_sensors.h → ...lude/jiminy/core/hardware/basic_sensors.h b/...include/jiminy/core/robot/basic_sensors.h → ...lude/jiminy/core/hardware/basic_sensors.h
@@ -1,8 +1,8 @@
 #ifndef JIMINY_BASIC_SENSORS_H
 #define JIMINY_BASIC_SENSORS_H
 
-#include "jiminy/core/robot/abstract_motor.h"
-#include "jiminy/core/robot/abstract_sensor.h"
+#include "jiminy/core/hardware/abstract_motor.h"
+#include "jiminy/core/hardware/abstract_sensor.h"
 
 
 namespace jiminy

diff --git a/core/src/engine/engine_multi_robot.cc b/core/src/engine/engine_multi_robot.cc
@@ -30,8 +30,8 @@
 #include "jiminy/core/telemetry/telemetry_data.h"
 #include "jiminy/core/telemetry/telemetry_recorder.h"
 #include "jiminy/core/robot/pinocchio_overload_algorithms.h"
-#include "jiminy/core/robot/abstract_motor.h"
-#include "jiminy/core/robot/abstract_sensor.h"
+#include "jiminy/core/hardware/abstract_motor.h"
+#include "jiminy/core/hardware/abstract_sensor.h"
 #include "jiminy/core/constraints/abstract_constraint.h"
 #include "jiminy/core/constraints/joint_constraint.h"
 #include "jiminy/core/constraints/fixed_frame_constraint.h"

diff --git a/core/src/robot/abstract_motor.cc → core/src/hardware/abstract_motor.cc b/core/src/robot/abstract_motor.cc → core/src/hardware/abstract_motor.cc
@@ -2,7 +2,7 @@
 #include "jiminy/core/macros.h"
 
 #include "jiminy/core/utilities/pinocchio.h"
-#include "jiminy/core/robot/abstract_motor.h"
+#include "jiminy/core/hardware/abstract_motor.h"
 
 
 namespace jiminy

diff --git a/core/src/robot/abstract_sensor.cc → core/src/hardware/abstract_sensor.cc b/core/src/robot/abstract_sensor.cc → core/src/hardware/abstract_sensor.cc
@@ -1,7 +1,7 @@
 #include "jiminy/core/robot/robot.h"
 
 #include "jiminy/core/utilities/random.h"
-#include "jiminy/core/robot/abstract_sensor.h"
+#include "jiminy/core/hardware/abstract_sensor.h"
 
 
 namespace jiminy

diff --git a/core/src/robot/basic_motors.cc → core/src/hardware/basic_motors.cc b/core/src/robot/basic_motors.cc → core/src/hardware/basic_motors.cc
@@ -2,7 +2,7 @@
 
 #include "jiminy/core/utilities/helpers.h"
 
-#include "jiminy/core/robot/basic_motors.h"
+#include "jiminy/core/hardware/basic_motors.h"
 
 
 namespace jiminy

diff --git a/core/src/robot/basic_sensors.cc → core/src/hardware/basic_sensors.cc b/core/src/robot/basic_sensors.cc → core/src/hardware/basic_sensors.cc
@@ -10,7 +10,7 @@
 #include "jiminy/core/utilities/pinocchio.h"
 #include "jiminy/core/utilities/random.h"
 
-#include "jiminy/core/robot/basic_sensors.h"
+#include "jiminy/core/hardware/basic_sensors.h"
 
 
 #define GET_ROBOT_AND_CHECK_SENSOR_INTEGRITY() \

diff --git a/core/src/robot/model.cc b/core/src/robot/model.cc
@@ -25,7 +25,7 @@
 
 #include "urdf_parser/urdf_parser.h"
 
-#include "jiminy/core/robot/basic_sensors.h"
+#include "jiminy/core/hardware/basic_sensors.h"
 #include "jiminy/core/robot/pinocchio_overload_algorithms.h"
 #include "jiminy/core/constraints/abstract_constraint.h"
 #include "jiminy/core/constraints/joint_constraint.h"

diff --git a/core/src/robot/robot.cc b/core/src/robot/robot.cc
@@ -1,8 +1,8 @@
 #include <fstream>
 #include <exception>
 
-#include "jiminy/core/robot/abstract_motor.h"
-#include "jiminy/core/robot/abstract_sensor.h"
+#include "jiminy/core/hardware/abstract_motor.h"
+#include "jiminy/core/hardware/abstract_sensor.h"
 #include "jiminy/core/telemetry/telemetry_data.h"
 #include "jiminy/core/io/file_device.h"
 #include "jiminy/core/utilities/helpers.h"

diff --git a/core/unit/engine_sanity_check.cc b/core/unit/engine_sanity_check.cc
@@ -7,7 +7,7 @@
 #define EIGEN_RUNTIME_NO_MALLOC
 
 #include "jiminy/core/engine/engine.h"
-#include "jiminy/core/robot/basic_motors.h"
+#include "jiminy/core/hardware/basic_motors.h"
 #include "jiminy/core/control/controller_functor.h"
 #include "jiminy/core/utilities/helpers.h"
 #include "jiminy/core/types.h"

diff --git a/python/jiminy_pywrap/src/helpers.cc b/python/jiminy_pywrap/src/helpers.cc
@@ -1,5 +1,5 @@
-#include "jiminy/core/robot/abstract_sensor.h"
-#include "jiminy/core/robot/abstract_motor.h"
+#include "jiminy/core/hardware/abstract_sensor.h"
+#include "jiminy/core/hardware/abstract_motor.h"
 #include "jiminy/core/constraints/abstract_constraint.h"
 #include "jiminy/core/robot/robot.h"
 #include "jiminy/core/robot/pinocchio_overload_algorithms.h"

diff --git a/python/jiminy_pywrap/src/motors.cc b/python/jiminy_pywrap/src/motors.cc
@@ -1,4 +1,4 @@
-#include "jiminy/core/robot/basic_motors.h"
+#include "jiminy/core/hardware/basic_motors.h"
 
 #include "pinocchio/bindings/python/fwd.hpp"
 

diff --git a/python/jiminy_pywrap/src/robot.cc b/python/jiminy_pywrap/src/robot.cc
@@ -1,5 +1,5 @@
-#include "jiminy/core/robot/abstract_sensor.h"
-#include "jiminy/core/robot/abstract_motor.h"
+#include "jiminy/core/hardware/abstract_sensor.h"
+#include "jiminy/core/hardware/abstract_motor.h"
 #include "jiminy/core/constraints/abstract_constraint.h"
 #include "jiminy/core/robot/robot.h"
 

diff --git a/python/jiminy_pywrap/src/sensors.cc b/python/jiminy_pywrap/src/sensors.cc
@@ -1,5 +1,5 @@
-#include "jiminy/core/robot/abstract_sensor.h"
-#include "jiminy/core/robot/basic_sensors.h"
+#include "jiminy/core/hardware/abstract_sensor.h"
+#include "jiminy/core/hardware/basic_sensors.h"
 #include "jiminy/core/types.h"
 
 #include "pinocchio/bindings/python/fwd.hpp"