Use .hpp headers (moveit#641)

based on PR moveit/moveit2#3113
PickNikRobotics · Jan 24, 2025 · feb6e27 · feb6e27
1 parent dd7ebbf
commit feb6e27
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Showing 86 changed files with 213 additions and 142 deletions.
diff --git a/.clang-tidy b/.clang-tidy
@@ -17,7 +17,6 @@ Checks:          'performance-*,
                   readability-identifier-naming,
                   '
 HeaderFilterRegex: '.*/moveit/task_constructor/.*\.h'
-AnalyzeTemporaryDtors: false
 CheckOptions:
   - key:             llvm-namespace-comment.ShortNamespaceLines
     value:           '10'

diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -36,14 +36,15 @@
 
 #include "execute_task_solution_capability.h"
 
-#include <moveit/moveit_cpp/moveit_cpp.h>
-#include <moveit/plan_execution/plan_execution.h>
-#include <moveit/trajectory_processing/trajectory_tools.h>
-#include <moveit/kinematic_constraints/utils.h>
-#include <moveit/move_group/capability_names.h>
-#include <moveit/robot_state/conversions.h>
-#include <moveit/utils/message_checks.h>
-#include <moveit/moveit_cpp/moveit_cpp.h>
+#include <moveit/moveit_cpp/moveit_cpp.hpp>
+#include <moveit/plan_execution/plan_execution.hpp>
+#include <moveit/trajectory_processing/trajectory_tools.hpp>
+#include <moveit/kinematic_constraints/utils.hpp>
+#include <moveit/move_group/capability_names.hpp>
+#include <moveit/robot_state/conversions.hpp>
+#include <moveit/utils/message_checks.hpp>
+#include <moveit/moveit_cpp/moveit_cpp.hpp>
+#include <fmt/format.h>
 
 #include <boost/algorithm/string/join.hpp>
 

diff --git a/capabilities/src/execute_task_solution_capability.h b/capabilities/src/execute_task_solution_capability.h
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <moveit/move_group/move_group_capability.h>
+#include <moveit/move_group/move_group_capability.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
 
 #include <moveit_task_constructor_msgs/action/execute_task_solution.hpp>

diff --git a/core/include/moveit/task_constructor/container_p.h b/core/include/moveit/task_constructor/container_p.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <moveit/task_constructor/container.h>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include "stage_p.h"
 
 #include <boost/bimap.hpp>

diff --git a/core/include/moveit/task_constructor/introspection.h b/core/include/moveit/task_constructor/introspection.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit_task_constructor_msgs/msg/task_description.hpp>
 #include <moveit_task_constructor_msgs/msg/task_statistics.hpp>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>

diff --git a/core/include/moveit/task_constructor/marker_tools.h b/core/include/moveit/task_constructor/marker_tools.h
@@ -2,7 +2,7 @@
 
 #include <rviz_marker_tools/marker_creation.h>
 #include <visualization_msgs/msg/marker.hpp>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <functional>
 
 namespace planning_scene {

diff --git a/core/include/moveit/task_constructor/merge.h b/core/include/moveit/task_constructor/merge.h
@@ -37,9 +37,9 @@
 #pragma once
 
 #include <moveit/task_constructor/storage.h>
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/robot_trajectory/robot_trajectory.h>
-#include <moveit/trajectory_processing/time_parameterization.h>
+#include <moveit/robot_model/robot_model.hpp>
+#include <moveit/robot_trajectory/robot_trajectory.hpp>
+#include <moveit/trajectory_processing/time_parameterization.hpp>
 
 namespace moveit {
 namespace task_constructor {

diff --git a/core/include/moveit/task_constructor/moveit_compat.h b/core/include/moveit/task_constructor/moveit_compat.h
@@ -38,8 +38,8 @@
 
 #pragma once
 
-#include <moveit/version.h>
-#include <moveit/macros/class_forward.h>
+#include <moveit/version.hpp>
+#include <moveit/macros/class_forward.hpp>
 
 #define MOVEIT_VERSION_GE(major, minor, patch)                                                \
 	(MOVEIT_VERSION_MAJOR * 1'000'000 + MOVEIT_VERSION_MINOR * 1'000 + MOVEIT_VERSION_PATCH >= \

diff --git a/core/include/moveit/task_constructor/solvers/joint_interpolation.h b/core/include/moveit/task_constructor/solvers/joint_interpolation.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <moveit/task_constructor/solvers/planner_interface.h>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 
 namespace moveit {
 namespace task_constructor {

diff --git a/core/include/moveit/task_constructor/solvers/pipeline_planner.h b/core/include/moveit/task_constructor/solvers/pipeline_planner.h
@@ -43,7 +43,7 @@
 #include <moveit/planning_pipeline_interfaces/solution_selection_functions.hpp>
 #include <moveit/planning_pipeline_interfaces/stopping_criterion_functions.hpp>
 #include <rclcpp/node.hpp>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 
 namespace planning_pipeline {
 MOVEIT_CLASS_FORWARD(PlanningPipeline);

diff --git a/core/include/moveit/task_constructor/solvers/planner_interface.h b/core/include/moveit/task_constructor/solvers/planner_interface.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit_msgs/msg/constraints.hpp>
 #include <moveit/task_constructor/properties.h>
 #include <Eigen/Geometry>

diff --git a/core/include/moveit/task_constructor/stage.h b/core/include/moveit/task_constructor/stage.h
@@ -41,7 +41,7 @@
 
 #include "trajectory_execution_info.h"
 #include "utils.h"
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit/task_constructor/storage.h>
 #include <vector>
 #include <list>

diff --git a/core/include/moveit/task_constructor/stages/fix_collision_objects.h b/core/include/moveit/task_constructor/stages/fix_collision_objects.h
@@ -41,7 +41,7 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/stage.h>
 #include <geometry_msgs/msg/vector3.hpp>
-#include <moveit/collision_detection/collision_common.h>
+#include <moveit/collision_detection/collision_common.hpp>
 
 namespace moveit {
 namespace task_constructor {

diff --git a/core/include/moveit/task_constructor/stages/noop.h b/core/include/moveit/task_constructor/stages/noop.h
@@ -0,0 +1,64 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2024, Sherbrooke University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Bielefeld University nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+/* Authors: Captain Yoshi */
+
+#pragma once
+
+#include <moveit/task_constructor/stage.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+
+namespace moveit {
+namespace task_constructor {
+namespace stages {
+
+/** no-op stage, which doesn't modify the interface state nor adds a trajectory.
+ *  However, it can be used to store custom stage properties,
+ *  which in turn can be queried post-planning to steer the execution.
+ */
+
+class NoOp : public PropagatingEitherWay
+{
+public:
+	NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){};
+
+private:
+	bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/,
+	             Interface::Direction /*dir*/) override {
+		scene = state.scene()->diff();
+		return true;
+	};
+};
+}  // namespace stages
+}  // namespace task_constructor
+}  // namespace moveit
diff --git a/core/include/moveit/task_constructor/stages/pick.h b/core/include/moveit/task_constructor/stages/pick.h
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit/task_constructor/container.h>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 

diff --git a/core/include/moveit/task_constructor/stages/simple_grasp.h b/core/include/moveit/task_constructor/stages/simple_grasp.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <moveit/task_constructor/container.h>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <Eigen/Geometry>
 

diff --git a/core/include/moveit/task_constructor/storage.h b/core/include/moveit/task_constructor/storage.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit/task_constructor/properties.h>
 #include <moveit/task_constructor/cost_queue.h>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>

diff --git a/core/include/moveit/task_constructor/task.h b/core/include/moveit/task_constructor/task.h
@@ -44,10 +44,10 @@
 #include <moveit/task_constructor/introspection.h>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 
 #include <moveit_msgs/msg/move_it_error_codes.hpp>
-#include <moveit/utils/moveit_error_code.h>
+#include <moveit/utils/moveit_error_code.hpp>
 
 #include <rclcpp/node.hpp>
 

diff --git a/core/include/moveit/task_constructor/utils.h b/core/include/moveit/task_constructor/utils.h
@@ -44,7 +44,7 @@
 
 #include <Eigen/Geometry>
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 
 namespace planning_scene {
 MOVEIT_CLASS_FORWARD(PlanningScene);

diff --git a/core/python/bindings/src/core.cpp b/core/python/bindings/src/core.cpp
@@ -39,9 +39,9 @@
 #include <moveit/task_constructor/container_p.h>
 #include <moveit/task_constructor/task.h>
 
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
-#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
+#include <moveit/move_group_interface/move_group_interface.hpp>
 
 namespace py = pybind11;
 using namespace py::literals;

diff --git a/core/python/bindings/src/core.h b/core/python/bindings/src/core.h
@@ -38,7 +38,7 @@
 #include <moveit/task_constructor/container.h>
 #include <moveit/task_constructor/cost_queue.h>
 #include <moveit/task_constructor/cost_terms.h>
-#include <moveit/utils/moveit_error_code.h>
+#include <moveit/utils/moveit_error_code.hpp>
 #include <pybind11/smart_holder.h>
 
 /** Trampoline classes to allow inheritance in Python (overriding virtual functions) */

diff --git a/core/python/bindings/src/stages.cpp b/core/python/bindings/src/stages.cpp
@@ -37,8 +37,8 @@
 #include <moveit/task_constructor/stages.h>
 #include <moveit/task_constructor/stages/pick.h>
 #include <moveit/task_constructor/stages/simple_grasp.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit_msgs/PlanningScene.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit_msgs/msg/planning_scene.hpp>
 #include <pybind11/stl.h>
 #include <moveit/python/pybind_rosmsg_typecasters.h>
 

diff --git a/core/src/container.cpp b/core/src/container.cpp
@@ -37,8 +37,8 @@
 #include <moveit/task_constructor/container_p.h>
 #include <moveit/task_constructor/introspection.h>
 #include <moveit/task_constructor/merge.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
 
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>

diff --git a/core/src/cost_terms.cpp b/core/src/cost_terms.cpp
@@ -37,10 +37,10 @@
 #include <moveit/task_constructor/cost_terms.h>
 #include <moveit/task_constructor/stage.h>
 
-#include <moveit/collision_detection/collision_common.h>
-#include <moveit/robot_trajectory/robot_trajectory.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_state/conversions.h>
+#include <moveit/collision_detection/collision_common.hpp>
+#include <moveit/robot_trajectory/robot_trajectory.hpp>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_state/conversions.hpp>
 
 #include <Eigen/Geometry>
 

diff --git a/core/src/introspection.cpp b/core/src/introspection.cpp
@@ -44,7 +44,7 @@
 #include <rclcpp/node.hpp>
 #include <rclcpp/publisher.hpp>
 #include <rclcpp/service.hpp>
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene/planning_scene.hpp>
 
 #include <sstream>
 #include <boost/bimap.hpp>

diff --git a/core/src/marker_tools.cpp b/core/src/marker_tools.cpp
@@ -1,6 +1,6 @@
 #include <moveit/task_constructor/marker_tools.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_state/robot_state.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_state/robot_state.hpp>
 
 namespace vm = visualization_msgs;
 

diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
@@ -37,10 +37,16 @@
 */
 
 #include <moveit/task_constructor/solvers/cartesian_path.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/trajectory_processing/time_parameterization.h>
-#include <moveit/kinematics_base/kinematics_base.h>
-#include <moveit/robot_state/cartesian_interpolator.h>
+#include <moveit/task_constructor/utils.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/trajectory_processing/time_parameterization.hpp>
+#include <moveit/kinematics_base/kinematics_base.hpp>
+#include <moveit/robot_state/cartesian_interpolator.hpp>
+#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
+#include <tf2_eigen/tf2_eigen.hpp>
+#else
+#include <tf2_eigen/tf2_eigen.h>
+#endif
 
 using namespace trajectory_processing;
 

diff --git a/core/src/solvers/joint_interpolation.cpp b/core/src/solvers/joint_interpolation.cpp
@@ -37,8 +37,8 @@
 */
 
 #include <moveit/task_constructor/solvers/joint_interpolation.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/trajectory_processing/time_parameterization.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/trajectory_processing/time_parameterization.hpp>
 
 #include <chrono>
 

diff --git a/core/src/solvers/multi_planner.cpp b/core/src/solvers/multi_planner.cpp
@@ -37,7 +37,7 @@
 */
 
 #include <moveit/task_constructor/solvers/multi_planner.h>
-#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/robot_trajectory/robot_trajectory.hpp>
 #include <chrono>
 
 namespace moveit {

diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -38,10 +38,10 @@
 
 #include <moveit/task_constructor/solvers/pipeline_planner.h>
 #include <moveit/task_constructor/task.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_pipeline/planning_pipeline.hpp>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
-#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/kinematic_constraints/utils.hpp>
 
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>

diff --git a/core/src/solvers/planner_interface.cpp b/core/src/solvers/planner_interface.cpp
@@ -37,7 +37,7 @@
 */
 
 #include <moveit/task_constructor/solvers/planner_interface.h>
-#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
 
 using namespace trajectory_processing;