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CihatAltiparmakmarioprats
CihatAltiparmak
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marioprats
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Use .hpp headers (moveit#641)
based on PR moveit/moveit2#3113
1 parent 9528692 commit b257ffe

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+135
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‎.clang-tidy

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@@ -17,7 +17,6 @@ Checks: 'performance-*,
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readability-identifier-naming,
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'
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HeaderFilterRegex: '.*/moveit/task_constructor/.*\.h'
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AnalyzeTemporaryDtors: false
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CheckOptions:
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- key: llvm-namespace-comment.ShortNamespaceLines
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value: '10'

‎capabilities/src/execute_task_solution_capability.cpp

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#include "execute_task_solution_capability.h"
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#include <moveit/moveit_cpp/moveit_cpp.h>
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#include <moveit/plan_execution/plan_execution.h>
41-
#include <moveit/trajectory_processing/trajectory_tools.h>
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#include <moveit/kinematic_constraints/utils.h>
43-
#include <moveit/move_group/capability_names.h>
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#include <moveit/robot_state/conversions.h>
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#include <moveit/utils/message_checks.h>
39+
#include <moveit/moveit_cpp/moveit_cpp.hpp>
40+
#include <moveit/plan_execution/plan_execution.hpp>
41+
#include <moveit/trajectory_processing/trajectory_tools.hpp>
42+
#include <moveit/kinematic_constraints/utils.hpp>
43+
#include <moveit/move_group/capability_names.hpp>
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#include <moveit/robot_state/conversions.hpp>
45+
#include <moveit/utils/message_checks.hpp>
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#include <fmt/format.h>
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namespace {

‎capabilities/src/execute_task_solution_capability.h

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#pragma once
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#include <moveit/move_group/move_group_capability.h>
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#include <moveit/move_group/move_group_capability.hpp>
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#include <rclcpp_action/rclcpp_action.hpp>
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#include <moveit_task_constructor_msgs/action/execute_task_solution.hpp>

‎core/include/moveit/task_constructor/container_p.h

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#pragma once
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#include <moveit/task_constructor/container.h>
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#include <moveit/macros/class_forward.h>
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#include <moveit/macros/class_forward.hpp>
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#include "stage_p.h"
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#include <boost/bimap.hpp>

‎core/include/moveit/task_constructor/introspection.h

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#pragma once
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#include <moveit/macros/class_forward.h>
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#include <moveit/macros/class_forward.hpp>
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#include <moveit_task_constructor_msgs/msg/task_description.hpp>
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#include <moveit_task_constructor_msgs/msg/task_statistics.hpp>
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#include <moveit_task_constructor_msgs/msg/solution.hpp>

‎core/include/moveit/task_constructor/marker_tools.h

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#include <rviz_marker_tools/marker_creation.h>
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#include <visualization_msgs/msg/marker.hpp>
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#include <moveit/macros/class_forward.h>
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#include <moveit/macros/class_forward.hpp>
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#include <functional>
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namespace planning_scene {

‎core/include/moveit/task_constructor/merge.h

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@@ -37,9 +37,9 @@
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#pragma once
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#include <moveit/task_constructor/storage.h>
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#include <moveit/robot_model/robot_model.h>
41-
#include <moveit/robot_trajectory/robot_trajectory.h>
42-
#include <moveit/trajectory_processing/time_parameterization.h>
40+
#include <moveit/robot_model/robot_model.hpp>
41+
#include <moveit/robot_trajectory/robot_trajectory.hpp>
42+
#include <moveit/trajectory_processing/time_parameterization.hpp>
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namespace moveit {
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namespace task_constructor {

‎core/include/moveit/task_constructor/moveit_compat.h

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#pragma once
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#include <moveit/version.h>
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#include <moveit/macros/class_forward.h>
41+
#include <moveit/version.hpp>
42+
#include <moveit/macros/class_forward.hpp>
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#define MOVEIT_VERSION_GE(major, minor, patch) \
4545
(MOVEIT_VERSION_MAJOR * 1'000'000 + MOVEIT_VERSION_MINOR * 1'000 + MOVEIT_VERSION_PATCH >= \

‎core/include/moveit/task_constructor/solvers/joint_interpolation.h

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#pragma once
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#include <moveit/task_constructor/solvers/planner_interface.h>
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#include <moveit/macros/class_forward.h>
42+
#include <moveit/macros/class_forward.hpp>
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namespace moveit {
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namespace task_constructor {

‎core/include/moveit/task_constructor/solvers/pipeline_planner.h

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#include <moveit/planning_pipeline_interfaces/solution_selection_functions.hpp>
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#include <moveit/planning_pipeline_interfaces/stopping_criterion_functions.hpp>
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#include <rclcpp/node.hpp>
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#include <moveit/macros/class_forward.h>
46+
#include <moveit/macros/class_forward.hpp>
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4848
namespace planning_pipeline {
4949
MOVEIT_CLASS_FORWARD(PlanningPipeline);

‎core/include/moveit/task_constructor/solvers/planner_interface.h

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#pragma once
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#include <moveit/macros/class_forward.h>
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#include <moveit/macros/class_forward.hpp>
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#include <moveit_msgs/msg/constraints.hpp>
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#include <moveit/task_constructor/properties.h>
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#include <Eigen/Geometry>

‎core/include/moveit/task_constructor/stage.h

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#include "trajectory_execution_info.h"
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#include "utils.h"
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#include <moveit/macros/class_forward.h>
44+
#include <moveit/macros/class_forward.hpp>
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#include <moveit/task_constructor/storage.h>
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#include <vector>
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#include <list>

‎core/include/moveit/task_constructor/stages/fix_collision_objects.h

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#include <moveit/task_constructor/storage.h>
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#include <moveit/task_constructor/stage.h>
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#include <geometry_msgs/msg/vector3.hpp>
44-
#include <moveit/collision_detection/collision_common.h>
44+
#include <moveit/collision_detection/collision_common.hpp>
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namespace moveit {
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namespace task_constructor {

‎core/include/moveit/task_constructor/stages/noop.h

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#pragma once
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#include <moveit/task_constructor/stage.h>
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#include <moveit/planning_scene/planning_scene.h>
39+
#include <moveit/planning_scene/planning_scene.hpp>
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namespace moveit {
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namespace task_constructor {

‎core/include/moveit/task_constructor/stages/pick.h

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#pragma once
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#include <moveit/macros/class_forward.h>
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#include <moveit/macros/class_forward.hpp>
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#include <moveit/task_constructor/container.h>
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#include <geometry_msgs/msg/twist_stamped.hpp>
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‎core/include/moveit/task_constructor/stages/simple_grasp.h

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#pragma once
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#include <moveit/task_constructor/container.h>
40-
#include <moveit/macros/class_forward.h>
40+
#include <moveit/macros/class_forward.hpp>
4141
#include <geometry_msgs/msg/pose_stamped.hpp>
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#include <Eigen/Geometry>
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‎core/include/moveit/task_constructor/storage.h

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#pragma once
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#include <moveit/macros/class_forward.h>
42+
#include <moveit/macros/class_forward.hpp>
4343
#include <moveit/task_constructor/properties.h>
4444
#include <moveit/task_constructor/cost_queue.h>
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#include <moveit_task_constructor_msgs/msg/solution.hpp>

‎core/include/moveit/task_constructor/task.h

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#include <moveit/task_constructor/introspection.h>
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#include <moveit_task_constructor_msgs/msg/solution.hpp>
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47-
#include <moveit/macros/class_forward.h>
47+
#include <moveit/macros/class_forward.hpp>
4848

4949
#include <moveit_msgs/msg/move_it_error_codes.hpp>
50-
#include <moveit/utils/moveit_error_code.h>
50+
#include <moveit/utils/moveit_error_code.hpp>
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#include <rclcpp/node.hpp>
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‎core/include/moveit/task_constructor/utils.h

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#include <Eigen/Geometry>
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47-
#include <moveit/macros/class_forward.h>
47+
#include <moveit/macros/class_forward.hpp>
4848

4949
namespace planning_scene {
5050
MOVEIT_CLASS_FORWARD(PlanningScene);

‎core/python/bindings/src/core.cpp

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#include <moveit/task_constructor/container_p.h>
4141
#include <moveit/task_constructor/task.h>
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43-
#include <moveit/planning_scene/planning_scene.h>
44-
#include <moveit/planning_scene_interface/planning_scene_interface.h>
45-
#include <moveit/move_group_interface/move_group_interface.h>
43+
#include <moveit/planning_scene/planning_scene.hpp>
44+
#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
45+
#include <moveit/move_group_interface/move_group_interface.hpp>
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4747
namespace py = pybind11;
4848
using namespace py::literals;

‎core/python/bindings/src/core.h

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#include <moveit/task_constructor/container.h>
3939
#include <moveit/task_constructor/cost_queue.h>
4040
#include <moveit/task_constructor/cost_terms.h>
41-
#include <moveit/utils/moveit_error_code.h>
41+
#include <moveit/utils/moveit_error_code.hpp>
4242
#include <pybind11/smart_holder.h>
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4444
/** Trampoline classes to allow inheritance in Python (overriding virtual functions) */

‎core/python/bindings/src/stages.cpp

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#include <moveit/task_constructor/stages.h>
3838
#include <moveit/task_constructor/stages/pick.h>
3939
#include <moveit/task_constructor/stages/simple_grasp.h>
40-
#include <moveit/planning_scene/planning_scene.h>
40+
#include <moveit/planning_scene/planning_scene.hpp>
4141
#include <moveit_msgs/msg/planning_scene.hpp>
4242
#include <pybind11/stl.h>
4343
#include <py_binding_tools/ros_msg_typecasters.h>

‎core/src/container.cpp

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#include <moveit/task_constructor/container_p.h>
3838
#include <moveit/task_constructor/introspection.h>
3939
#include <moveit/task_constructor/merge.h>
40-
#include <moveit/planning_scene/planning_scene.h>
41-
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
40+
#include <moveit/planning_scene/planning_scene.hpp>
41+
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
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4343
#include <rclcpp/logger.hpp>
4444
#include <rclcpp/logging.hpp>

‎core/src/cost_terms.cpp

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#include <moveit/task_constructor/cost_terms.h>
3838
#include <moveit/task_constructor/stage.h>
3939

40-
#include <moveit/collision_detection/collision_common.h>
41-
#include <moveit/robot_trajectory/robot_trajectory.h>
42-
#include <moveit/planning_scene/planning_scene.h>
43-
#include <moveit/robot_state/conversions.h>
40+
#include <moveit/collision_detection/collision_common.hpp>
41+
#include <moveit/robot_trajectory/robot_trajectory.hpp>
42+
#include <moveit/planning_scene/planning_scene.hpp>
43+
#include <moveit/robot_state/conversions.hpp>
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4545
#include <Eigen/Geometry>
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‎core/src/introspection.cpp

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#include <rclcpp/node.hpp>
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#include <rclcpp/publisher.hpp>
4646
#include <rclcpp/service.hpp>
47-
#include <moveit/planning_scene/planning_scene.h>
47+
#include <moveit/planning_scene/planning_scene.hpp>
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#include <sstream>
5050
#include <boost/bimap.hpp>

‎core/src/marker_tools.cpp

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#include <moveit/task_constructor/marker_tools.h>
2-
#include <moveit/planning_scene/planning_scene.h>
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#include <moveit/robot_state/robot_state.h>
2+
#include <moveit/planning_scene/planning_scene.hpp>
3+
#include <moveit/robot_state/robot_state.hpp>
44

55
namespace vm = visualization_msgs;
66

‎core/src/solvers/cartesian_path.cpp

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#include <moveit/task_constructor/solvers/cartesian_path.h>
4040
#include <moveit/task_constructor/utils.h>
41-
#include <moveit/planning_scene/planning_scene.h>
42-
#include <moveit/trajectory_processing/time_parameterization.h>
43-
#include <moveit/kinematics_base/kinematics_base.h>
44-
#include <moveit/robot_state/cartesian_interpolator.h>
41+
#include <moveit/planning_scene/planning_scene.hpp>
42+
#include <moveit/trajectory_processing/time_parameterization.hpp>
43+
#include <moveit/kinematics_base/kinematics_base.hpp>
44+
#include <moveit/robot_state/cartesian_interpolator.hpp>
4545
#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
4646
#include <tf2_eigen/tf2_eigen.hpp>
4747
#else

‎core/src/solvers/joint_interpolation.cpp

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*/
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3939
#include <moveit/task_constructor/solvers/joint_interpolation.h>
40-
#include <moveit/planning_scene/planning_scene.h>
41-
#include <moveit/trajectory_processing/time_parameterization.h>
40+
#include <moveit/planning_scene/planning_scene.hpp>
41+
#include <moveit/trajectory_processing/time_parameterization.hpp>
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4343
#include <chrono>
4444

‎core/src/solvers/multi_planner.cpp

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*/
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3939
#include <moveit/task_constructor/solvers/multi_planner.h>
40-
#include <moveit/robot_trajectory/robot_trajectory.h>
40+
#include <moveit/robot_trajectory/robot_trajectory.hpp>
4141
#include <chrono>
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4343
namespace moveit {

‎core/src/solvers/pipeline_planner.cpp

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#include <moveit/task_constructor/solvers/pipeline_planner.h>
4040
#include <moveit/task_constructor/task.h>
41-
#include <moveit/planning_scene/planning_scene.h>
42-
#include <moveit/planning_pipeline/planning_pipeline.h>
41+
#include <moveit/planning_scene/planning_scene.hpp>
42+
#include <moveit/planning_pipeline/planning_pipeline.hpp>
4343
#include <moveit_msgs/msg/motion_plan_request.hpp>
44-
#include <moveit/kinematic_constraints/utils.h>
44+
#include <moveit/kinematic_constraints/utils.hpp>
4545

4646
#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
4747
#include <tf2_eigen/tf2_eigen.hpp>

‎core/src/solvers/planner_interface.cpp

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3737
*/
3838

3939
#include <moveit/task_constructor/solvers/planner_interface.h>
40-
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
40+
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
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4242
using namespace trajectory_processing;
4343

‎core/src/stage.cpp

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#include <moveit/task_constructor/container_p.h>
4040
#include <moveit/task_constructor/introspection.h>
4141

42-
#include <moveit/planning_scene/planning_scene.h>
42+
#include <moveit/planning_scene/planning_scene.hpp>
4343

4444
#include <rclcpp/logging.hpp>
4545

‎core/src/stages/compute_ik.cpp

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#include <moveit/task_constructor/storage.h>
3939
#include <moveit/task_constructor/marker_tools.h>
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41-
#include <moveit/planning_scene/planning_scene.h>
42-
#include <moveit/robot_state/conversions.h>
43-
#include <moveit/robot_state/robot_state.h>
41+
#include <moveit/planning_scene/planning_scene.hpp>
42+
#include <moveit/robot_state/conversions.hpp>
43+
#include <moveit/robot_state/robot_state.hpp>
4444

4545
#include <Eigen/Geometry>
4646
#if __has_include(<tf2_eigen/tf2_eigen.hpp>)

‎core/src/stages/connect.cpp

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#include <moveit/task_constructor/merge.h>
4141
#include <moveit/task_constructor/cost_terms.h>
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43-
#include <moveit/planning_scene/planning_scene.h>
44-
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
43+
#include <moveit/planning_scene/planning_scene.hpp>
44+
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
4545
#include <fmt/core.h>
4646
#include <fmt/ostream.h>
4747

‎core/src/stages/current_state.cpp

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4141
#include <moveit/task_constructor/storage.h>
4242
#include <moveit_msgs/srv/get_planning_scene.hpp>
4343
#include <moveit_msgs/msg/planning_scene_components.hpp>
44-
#include <moveit/planning_scene/planning_scene.h>
45-
#include <moveit/robot_model_loader/robot_model_loader.h>
44+
#include <moveit/planning_scene/planning_scene.hpp>
45+
#include <moveit/robot_model_loader/robot_model_loader.hpp>
4646
#include <rclcpp/rclcpp.hpp>
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4848
namespace moveit {

‎core/src/stages/fix_collision_objects.cpp

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#include <moveit/task_constructor/stages/fix_collision_objects.h>
4040
#include <moveit/task_constructor/storage.h>
4141

42-
#include <moveit/planning_scene/planning_scene.h>
42+
#include <moveit/planning_scene/planning_scene.hpp>
4343
#include <moveit/task_constructor/cost_terms.h>
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4545
#include <rviz_marker_tools/marker_creation.h>

‎core/src/stages/fixed_cartesian_poses.cpp

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#include <moveit/task_constructor/cost_terms.h>
4040
#include <moveit/task_constructor/marker_tools.h>
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42-
#include <moveit/planning_scene/planning_scene.h>
42+
#include <moveit/planning_scene/planning_scene.hpp>
4343
#include <rviz_marker_tools/marker_creation.h>
4444

4545
namespace moveit {

‎core/src/stages/fixed_state.cpp

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3737
#include <moveit/task_constructor/stages/fixed_state.h>
3838
#include <moveit/task_constructor/cost_terms.h>
3939

40-
#include <moveit/planning_scene/planning_scene.h>
40+
#include <moveit/planning_scene/planning_scene.hpp>
4141

4242
namespace moveit {
4343
namespace task_constructor {

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