From a136728294ee2098367d6f504f6025d9538e4367 Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Wed, 8 Nov 2017 22:00:58 -0500 Subject: [PATCH 1/4] Move Side.h to controllers and rename to side.h The move makes the dependency direction only robotInterfaces deps on controllers, instead of circular. The rename just comes for free since I'm here anyway. --- drake/examples/humanoid_controller/BUILD.bazel | 2 +- drake/examples/humanoid_controller/humanoid_status.h | 2 +- drake/examples/valkyrie/BUILD.bazel | 2 +- drake/examples/valkyrie/robot_state_encoder.h | 2 +- drake/systems/controllers/BUILD.bazel | 9 ++++++++- drake/systems/controllers/QPCommon.h | 2 +- .../{robotInterfaces/Side.cpp => controllers/side.cc} | 2 +- .../{robotInterfaces/Side.h => controllers/side.h} | 0 drake/systems/robotInterfaces/BUILD.bazel | 9 +-------- drake/systems/robotInterfaces/QPLocomotionPlan.h | 2 +- tools/install/libdrake/build_components.bzl | 2 +- 11 files changed, 17 insertions(+), 17 deletions(-) rename drake/systems/{robotInterfaces/Side.cpp => controllers/side.cc} (95%) rename drake/systems/{robotInterfaces/Side.h => controllers/side.h} (100%) diff --git a/drake/examples/humanoid_controller/BUILD.bazel b/drake/examples/humanoid_controller/BUILD.bazel index f3758167cd1a..50b380e57528 100644 --- 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 index fa4e8c245069..d466d92d6957 100644 --- 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 index 4e3ff3fdde18..39c90657a286 100644 --- 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 index dafd7c940c76..9fa7fb3953d2 100644 --- 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 index e1aca255199a..e4e6ed22cb53 100644 --- 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", ], ) diff --git a/drake/systems/controllers/QPCommon.h b/drake/systems/controllers/QPCommon.h index 7b06962eb283..bb2576c7cfd3 100644 --- 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 b/drake/systems/controllers/side.cc similarity index 95% rename from drake/systems/robotInterfaces/Side.cpp rename to drake/systems/controllers/side.cc index 4debaee5dd0c..233bd75c3cef 100644 --- a/drake/systems/robotInterfaces/Side.cpp +++ b/drake/systems/controllers/side.cc @@ -1,4 +1,4 @@ -#include "drake/systems/robotInterfaces/Side.h" +#include "drake/systems/controllers/side.h" #include diff --git a/drake/systems/robotInterfaces/Side.h b/drake/systems/controllers/side.h similarity index 100% rename from drake/systems/robotInterfaces/Side.h rename to drake/systems/controllers/side.h diff --git a/drake/systems/robotInterfaces/BUILD.bazel b/drake/systems/robotInterfaces/BUILD.bazel index 100c56bdabd7..e13567c3f356 100644 --- a/drake/systems/robotInterfaces/BUILD.bazel +++ b/drake/systems/robotInterfaces/BUILD.bazel @@ -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", @@ -44,19 +43,13 @@ 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"], diff --git a/drake/systems/robotInterfaces/QPLocomotionPlan.h b/drake/systems/robotInterfaces/QPLocomotionPlan.h index af1fe9111440..bcb11f31f56e 100644 --- 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 index 099043042982..cdc104f4a25a 100644 --- 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", From 9dd8751d1f4dc25cda7234f8031e1fb0d71db06b Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Wed, 8 Nov 2017 22:00:58 -0500 Subject: [PATCH 2/4] Use short label name for deps in same folder --- drake/systems/controllers/BUILD.bazel | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/drake/systems/controllers/BUILD.bazel b/drake/systems/controllers/BUILD.bazel index e4e6ed22cb53..11ab0cba2d10 100644 --- a/drake/systems/controllers/BUILD.bazel +++ b/drake/systems/controllers/BUILD.bazel @@ -138,9 +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", ], ) From ab7f2eba83b64a0d1d787ffa1a30b1f1e3769db7 Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Wed, 8 Nov 2017 22:00:58 -0500 Subject: [PATCH 3/4] Remove stray dependency on :essential --- drake/systems/robotInterfaces/BUILD.bazel | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/drake/systems/robotInterfaces/BUILD.bazel b/drake/systems/robotInterfaces/BUILD.bazel index e13567c3f356..1d7a2e98c5bc 100644 --- a/drake/systems/robotInterfaces/BUILD.bazel +++ b/drake/systems/robotInterfaces/BUILD.bazel @@ -56,7 +56,7 @@ drake_cc_library( hdrs = ["convex_hull.h"], visibility = [], deps = [ - "//drake/common:essential", + "@eigen", ], ) From 7e6f81eeea16965ca278b173511192529e3407a2 Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Wed, 8 Nov 2017 22:00:58 -0500 Subject: [PATCH 4/4] Re-spell the drake_cc import This works around Bazel issue 3115. --- drake/systems/robotInterfaces/BUILD.bazel | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/drake/systems/robotInterfaces/BUILD.bazel b/drake/systems/robotInterfaces/BUILD.bazel index 1d7a2e98c5bc..c9613c305d09 100644 --- 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", )