Merge pull request #7428 from jwnimmer-tri/build-robotInterfaces-deps

Tidy up some contollers vs robotInterfaces deps details
RobotLocomotion · Nov 9, 2017 · b7d494d · b7d494d
2 parents 886f686 + 7e6f81e
commit b7d494d
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Showing 11 changed files with 20 additions and 20 deletions.
diff --git a/drake/examples/humanoid_controller/BUILD.bazel b/drake/examples/humanoid_controller/BUILD.bazel
@@ -44,8 +44,8 @@ drake_cc_library(
         "//drake/common:essential",
         "//drake/multibody:rigid_body_tree",
         "//drake/multibody:rigid_body_tree_alias_groups",
+        "//drake/systems/controllers:side",
         "//drake/systems/controllers/qp_inverse_dynamics:robot_kinematic_state",  # noqa
-        "//drake/systems/robotInterfaces:side",
     ],
 )
 

diff --git a/drake/examples/humanoid_controller/humanoid_status.h b/drake/examples/humanoid_controller/humanoid_status.h
@@ -10,7 +10,7 @@
 #include "drake/common/eigen_types.h"
 #include "drake/multibody/rigid_body_tree_alias_groups.h"
 #include "drake/systems/controllers/qp_inverse_dynamics/robot_kinematic_state.h"
-#include "drake/systems/robotInterfaces/Side.h"
+#include "drake/systems/controllers/side.h"
 
 namespace drake {
 namespace examples {

diff --git a/drake/examples/valkyrie/BUILD.bazel b/drake/examples/valkyrie/BUILD.bazel
@@ -85,7 +85,7 @@ drake_cc_library(
     deps = [
         "//drake/manipulation/util:robot_state_msg_translator",
         "//drake/multibody/rigid_body_plant",
-        "//drake/systems/robotInterfaces:side",
+        "//drake/systems/controllers:side",
         "//drake/util",
         "//drake/util:lcm_util",
     ],

diff --git a/drake/examples/valkyrie/robot_state_encoder.h b/drake/examples/valkyrie/robot_state_encoder.h
@@ -13,9 +13,9 @@
 #include "drake/multibody/rigid_body_plant/contact_results.h"
 #include "drake/multibody/rigid_body_plant/kinematics_results.h"
 #include "drake/multibody/rigid_body_tree.h"
+#include "drake/systems/controllers/side.h"
 #include "drake/systems/framework/context.h"
 #include "drake/systems/framework/leaf_system.h"
-#include "drake/systems/robotInterfaces/Side.h"
 
 namespace drake {
 namespace systems {

diff --git a/drake/systems/controllers/BUILD.bazel b/drake/systems/controllers/BUILD.bazel
@@ -113,15 +113,22 @@ drake_cc_library(
     ],
 )
 
+drake_cc_library(
+    name = "side",
+    srcs = ["side.cc"],
+    hdrs = ["side.h"],
+    deps = [],
+)
+
 drake_cc_library(
     name = "qp_common",
     srcs = [],
     hdrs = ["QPCommon.h"],
     deps = [
         ":control_util",
+        ":side",
         "//drake/common:essential",
         "//drake/multibody:rigid_body_tree",
-        "//drake/systems/robotInterfaces:side",
         "//drake/util",
     ],
 )
@@ -131,9 +138,9 @@ drake_cc_library(
     srcs = ["zmp_planner.cc"],
     hdrs = ["zmp_planner.h"],
     deps = [
+        ":linear_quadratic_regulator",
         "//drake/common:essential",
         "//drake/common/trajectories:piecewise_polynomial",
-        "//drake/systems/controllers:linear_quadratic_regulator",
     ],
 )
 

diff --git a/drake/systems/controllers/QPCommon.h b/drake/systems/controllers/QPCommon.h
@@ -14,7 +14,7 @@
 #include "drake/multibody/joints/floating_base_types.h"
 #include "drake/multibody/rigid_body_tree.h"
 #include "drake/systems/controllers/controlUtil.h"
-#include "drake/systems/robotInterfaces/Side.h"
+#include "drake/systems/controllers/side.h"
 #include "drake/util/drakeUtil.h"
 
 struct QPControllerState {

diff --git a/drake/systems/robotInterfaces/Side.cpp → drake/systems/controllers/side.cc b/drake/systems/robotInterfaces/Side.cpp → drake/systems/controllers/side.cc
@@ -1,4 +1,4 @@
-#include "drake/systems/robotInterfaces/Side.h"
+#include "drake/systems/controllers/side.h"
 
 #include <stdexcept>
 

diff --git a/drake/systems/robotInterfaces/Side.h → drake/systems/controllers/side.h b/drake/systems/robotInterfaces/Side.h → drake/systems/controllers/side.h
diff --git a/drake/systems/robotInterfaces/BUILD.bazel b/drake/systems/robotInterfaces/BUILD.bazel
@@ -1,7 +1,7 @@
 # -*- python -*-
 
 load(
-    "//tools/skylark:drake_cc.bzl",
+    "//tools:drake.bzl",
     "drake_cc_googletest",
     "drake_cc_library",
 )
@@ -31,7 +31,6 @@ drake_cc_library(
     deps = [
         ":body_motion_data",
         ":convex_hull",
-        ":side",
         "//drake/common:essential",
         "//drake/common:unused",
         "//drake/common/trajectories:piecewise_polynomial",
@@ -44,26 +43,20 @@ drake_cc_library(
         "//drake/math:gradient",
         "//drake/multibody:rigid_body_tree",
         "//drake/systems/controllers:polynomial_encode_decode",
+        "//drake/systems/controllers:side",
         "//drake/systems/controllers:zmp_util",
         "//drake/util",
         "//drake/util:lcm_util",
     ],
 )
 
-drake_cc_library(
-    name = "side",
-    srcs = ["Side.cpp"],
-    hdrs = ["Side.h"],
-    deps = [],
-)
-
 drake_cc_library(
     name = "convex_hull",
     srcs = ["convex_hull.cc"],
     hdrs = ["convex_hull.h"],
     visibility = [],
     deps = [
-        "//drake/common:essential",
+        "@eigen",
     ],
 )
 

diff --git a/drake/systems/robotInterfaces/QPLocomotionPlan.h b/drake/systems/robotInterfaces/QPLocomotionPlan.h
@@ -13,9 +13,9 @@
 #include "drake/common/unused.h"
 #include "drake/lcmt_qp_controller_input.hpp"
 #include "drake/multibody/rigid_body_tree.h"
+#include "drake/systems/controllers/side.h"
 #include "drake/systems/controllers/zmpUtil.h"
 #include "drake/systems/robotInterfaces/BodyMotionData.h"
-#include "drake/systems/robotInterfaces/Side.h"
 
 class QuadraticLyapunovFunction {
   // TODO(tkoolen): move into its own file

diff --git a/tools/install/libdrake/build_components.bzl b/tools/install/libdrake/build_components.bzl
@@ -232,6 +232,7 @@ LIBDRAKE_COMPONENTS = [
     "//drake/systems/controllers:pid_controller",
     "//drake/systems/controllers:qp_common",
     "//drake/systems/controllers:setpoint",
+    "//drake/systems/controllers:side",
     "//drake/systems/controllers:state_feedback_controller_interface",
     "//drake/systems/controllers:zmp_planner",
     "//drake/systems/controllers:zmp_util",
@@ -304,7 +305,6 @@ LIBDRAKE_COMPONENTS = [
     "//drake/systems/rendering:pose_vector",
     "//drake/systems/robotInterfaces:body_motion_data",
     "//drake/systems/robotInterfaces:qp_locomotion_plan",
-    "//drake/systems/robotInterfaces:side",
     "//drake/systems/sensors:accelerometer",
     "//drake/systems/sensors:beam_model",
     "//drake/systems/sensors:beam_model_params",