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Tidy up some contollers vs robotInterfaces deps details #7428

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merged 4 commits into from
Nov 9, 2017
Merged

Tidy up some contollers vs robotInterfaces deps details #7428

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a136728
Move Side.h to controllers and rename to side.h
jwnimmer-tri Nov 9, 2017
9dd8751
Use short label name for deps in same folder
jwnimmer-tri Nov 9, 2017
ab7f2eb
Remove stray dependency on :essential
jwnimmer-tri Nov 9, 2017
7e6f81e
Re-spell the drake_cc import
jwnimmer-tri Nov 9, 2017
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2 changes: 1 addition & 1 deletion drake/examples/humanoid_controller/BUILD.bazel
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Expand Up @@ -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",
],
)

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2 changes: 1 addition & 1 deletion drake/examples/humanoid_controller/humanoid_status.h
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Expand Up @@ -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 {
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2 changes: 1 addition & 1 deletion drake/examples/valkyrie/BUILD.bazel
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Expand Up @@ -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",
],
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2 changes: 1 addition & 1 deletion drake/examples/valkyrie/robot_state_encoder.h
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Expand Up @@ -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 {
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11 changes: 9 additions & 2 deletions drake/systems/controllers/BUILD.bazel
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Expand Up @@ -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",
],
)
Expand All @@ -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",
],
)

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2 changes: 1 addition & 1 deletion drake/systems/controllers/QPCommon.h
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Expand Up @@ -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 {
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2 changes: 1 addition & 1 deletion drake/systems/robotInterfaces/Side.cpp → drake/systems/controllers/side.cc
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@@ -1,4 +1,4 @@
#include "drake/systems/robotInterfaces/Side.h"
#include "drake/systems/controllers/side.h"

#include <stdexcept>

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0 drake/systems/robotInterfaces/Side.h → drake/systems/controllers/side.h
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13 changes: 3 additions & 10 deletions drake/systems/robotInterfaces/BUILD.bazel
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@@ -1,7 +1,7 @@
# -*- python -*-

load(
"//tools/skylark:drake_cc.bzl",
"//tools:drake.bzl",
"drake_cc_googletest",
"drake_cc_library",
)
Expand Down Expand Up @@ -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",
Expand All @@ -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",
],
)

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2 changes: 1 addition & 1 deletion drake/systems/robotInterfaces/QPLocomotionPlan.h
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion tools/install/libdrake/build_components.bzl
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Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down