From af73284dd390eaeef833b53146870a1a5261be8c Mon Sep 17 00:00:00 2001
From: erixar <erixar@foxmail.com>
Date: Sun, 26 Dec 2021 22:23:35 +0800
Subject: [PATCH] test

---
 .../include/base_placement_plugin/create_marker.h             | 4 ++--
 .../include/base_placement_plugin/place_base.h                | 2 +-
 base_placement_plugin/src/create_marker.cpp                   | 2 +-
 map_creator/CMakeLists.txt                                    | 2 ++
 map_creator/include/map_creator/mh5_ikfast.cpp                | 2 +-
 map_creator/src/create_capability_map.cpp                     | 4 +++-
 map_creator/src/create_inverse_reachability_map.cpp           | 4 +++-
 map_creator/src/create_reachability_map.cpp                   | 4 +++-
 8 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/base_placement_plugin/include/base_placement_plugin/create_marker.h b/base_placement_plugin/include/base_placement_plugin/create_marker.h
index b9a800d..31ab58b 100644
--- a/base_placement_plugin/include/base_placement_plugin/create_marker.h
+++ b/base_placement_plugin/include/base_placement_plugin/create_marker.h
@@ -9,7 +9,7 @@
 #include <Eigen/Eigen>
 #include <eigen_conversions/eigen_msg.h>
 
-#include<moveit/move_group_interface/move_group.h>
+#include<moveit/move_group_interface/move_group_interface.h>
 #include<moveit/robot_state/robot_state.h>
 
 #include<moveit/robot_model_loader/robot_model_loader.h>
@@ -52,7 +52,7 @@ class CreateMarker{
 
   std::string group_name_;
   ros::AsyncSpinner spinner;
-  boost::scoped_ptr<moveit::planning_interface::MoveGroup> group_;
+  boost::scoped_ptr<moveit::planning_interface::MoveGroupInterface> group_;
   std::string parent_link;
   moveit::core::RobotModelConstPtr robot_model_; //Robot model const pointer
 };
diff --git a/base_placement_plugin/include/base_placement_plugin/place_base.h b/base_placement_plugin/include/base_placement_plugin/place_base.h
index 3a79981..8588430 100644
--- a/base_placement_plugin/include/base_placement_plugin/place_base.h
+++ b/base_placement_plugin/include/base_placement_plugin/place_base.h
@@ -8,7 +8,7 @@
 #include<base_placement_plugin/create_marker.h>
 
 #include<moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include<moveit/move_group_interface/move_group.h>
+#include<moveit/move_group_interface/move_group_interface.h>
 #include<moveit/robot_model_loader/robot_model_loader.h>
 #include<moveit/robot_model/robot_model.h>
 #include<moveit/robot_model/joint_model_group.h>
diff --git a/base_placement_plugin/src/create_marker.cpp b/base_placement_plugin/src/create_marker.cpp
index 03f21db..285f173 100644
--- a/base_placement_plugin/src/create_marker.cpp
+++ b/base_placement_plugin/src/create_marker.cpp
@@ -10,7 +10,7 @@ double unifRand()
 CreateMarker::CreateMarker(std::string group_name) : spinner(1), group_name_(group_name)
 {
   spinner.start();
-  group_.reset(new moveit::planning_interface::MoveGroup(group_name_));
+  group_.reset(new moveit::planning_interface::MoveGroupInterface(group_name_));
   //ROS_INFO_STREAM("Selected planning group: "<< group_->getName());
   robot_model_ = group_->getRobotModel();
 }
diff --git a/map_creator/CMakeLists.txt b/map_creator/CMakeLists.txt
index 2eafbfe..5b83388 100644
--- a/map_creator/CMakeLists.txt
+++ b/map_creator/CMakeLists.txt
@@ -50,6 +50,8 @@ add_library(sphere_discretization  src/sphere_discretization.cpp)
 add_library(kinematics  src/kinematics.cpp )
 add_library(hdf5_dataset  src/hdf5_dataset.cpp)
 
+
+
 target_link_libraries(sphere_discretization  ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARY_DIRS})
 target_link_libraries(kinematics  ${catkin_LIBRARIES} -llapack)
 target_link_libraries(hdf5_dataset  ${catkin_LIBRARIES} -lhdf5 -lhdf5_cpp)
diff --git a/map_creator/include/map_creator/mh5_ikfast.cpp b/map_creator/include/map_creator/mh5_ikfast.cpp
index 6703678..e197e1b 100644
--- a/map_creator/include/map_creator/mh5_ikfast.cpp
+++ b/map_creator/include/map_creator/mh5_ikfast.cpp
@@ -20,7 +20,7 @@
 #define IKFAST_HAS_LIBRARY
 #include "ikfast.h"  // found inside share/openrave-X.Y/python/ikfast.h
 using namespace ikfast;
-
+using namespace std;
 // check if the included ikfast version matches what this file was compiled with
 #define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]
 IKFAST_COMPILE_ASSERT(IKFAST_VERSION == 0x10000048);
diff --git a/map_creator/src/create_capability_map.cpp b/map_creator/src/create_capability_map.cpp
index 77dcc00..07b39b8 100644
--- a/map_creator/src/create_capability_map.cpp
+++ b/map_creator/src/create_capability_map.cpp
@@ -12,9 +12,11 @@
 #include <map_creator/sphere_discretization.h>
 #include <map_creator/kinematics.h>
 #include<map_creator/hdf5_dataset.h>
+#include <boost/format.hpp>
 
-//struct stat st;
 
+//struct stat st;
+using namespace std;
 bool isFloat(std::string s)
 {
   std::istringstream iss(s);
diff --git a/map_creator/src/create_inverse_reachability_map.cpp b/map_creator/src/create_inverse_reachability_map.cpp
index 2183f0d..ae18a09 100644
--- a/map_creator/src/create_inverse_reachability_map.cpp
+++ b/map_creator/src/create_inverse_reachability_map.cpp
@@ -22,11 +22,13 @@
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <ctime>
+#include <boost/format.hpp>
+
 
 #include <string>
 #include <time.h>
 //struct stat st;
-
+using namespace std;
 int main(int argc, char **argv)
 {
 ros::init(argc, argv, "inverse_workspace");
diff --git a/map_creator/src/create_reachability_map.cpp b/map_creator/src/create_reachability_map.cpp
index 77dbe93..6821400 100644
--- a/map_creator/src/create_reachability_map.cpp
+++ b/map_creator/src/create_reachability_map.cpp
@@ -14,9 +14,11 @@
 #include <map_creator/sphere_discretization.h>
 #include <map_creator/kinematics.h>
 #include<map_creator/hdf5_dataset.h>
+#include <boost/format.hpp>
 
-//struct stat st;
 
+//struct stat st;
+using namespace std;
 typedef std::vector<std::pair< std::vector< double >, const std::vector< double >* > > MultiVector;
 //typedef std::multimap< const std::vector< double >*, const std::vector< double >* > MultiMap;