Remove ctrl_lib namespace and replace with wbc for better code consis…

…tency

src/controllers/ActivationFunction.hpp

@@ -4,7 +4,7 @@
 #include <base/Eigen.hpp>
 #include <stdexcept>
 
-namespace ctrl_lib{
+namespace wbc{
 
 enum activationType{NO_ACTIVATION,              /** Activation values will always be one */
                     STEP_ACTIVATION,            /** If input > threshold, activation will be one, else 0 */

src/controllers/CartesianForcePIDController.cpp

@@ -1,6 +1,6 @@
 #include "CartesianForcePIDController.hpp"
 
-namespace ctrl_lib {
+namespace wbc {
 
 CartesianForcePIDController::CartesianForcePIDController() :
     PIDController(6){

src/controllers/CartesianForcePIDController.hpp

@@ -5,7 +5,7 @@
 #include <base/samples/Wrench.hpp>
 #include <base/samples/RigidBodyStateSE3.hpp>
 
-namespace ctrl_lib {
+namespace wbc {
 
 /**
  * @brief CartesianForcePIDController implements a PID Controller on a Wrench data type

src/controllers/CartesianPosPDController.cpp

@@ -2,7 +2,7 @@
 #include "ControllerTools.hpp"
 #include <base/samples/RigidBodyStateSE3.hpp>
 
-namespace ctrl_lib{
+namespace wbc{
 
 CartesianPosPDController::CartesianPosPDController() :
     PosPDController(6){

src/controllers/CartesianPosPDController.hpp

@@ -1,10 +1,10 @@
-#ifndef CTRL_LIB_CART_POS_PD_CONTROLLER_HPP
-#define CTRL_LIB_CART_POS_PD_CONTROLLER_HPP
+#ifndef WBC_CART_POS_PD_CONTROLLER_HPP
+#define WBC_CART_POS_PD_CONTROLLER_HPP
 
 #include "PosPDController.hpp"
 #include <base/samples/RigidBodyStateSE3.hpp>
 
-namespace ctrl_lib {
+namespace wbc {
 
 /**
  * @brief The CartesianPosPDController class implements a PD Controller with feed forward on the RigidBodyStateSE3 type. The following control schemes are available:

src/controllers/CartesianPotentialFieldsController.cpp

@@ -1,7 +1,7 @@
 #include "CartesianPotentialFieldsController.hpp"
 #include <stdexcept>
 
-using namespace ctrl_lib;
+using namespace wbc;
 
 CartesianPotentialFieldsController::CartesianPotentialFieldsController() :
     PotentialFieldsController(3){

src/controllers/CartesianPotentialFieldsController.hpp

@@ -4,7 +4,7 @@
 #include "PotentialFieldsController.hpp"
 #include <base/samples/RigidBodyStateSE3.hpp>
 
-namespace ctrl_lib{
+namespace wbc{
 
 /**
  * @brief The PotentialFieldsController class implements a multi potential field controller in Cartesian space.

src/controllers/JointLimitAvoidanceController.cpp

@@ -4,7 +4,7 @@
 
 using namespace std;
 
-namespace ctrl_lib {
+namespace wbc {
 
 JointLimitAvoidanceController::JointLimitAvoidanceController(const base::JointLimits& limits,
                                                              const base::VectorXd &influence_distance) :

src/controllers/JointLimitAvoidanceController.hpp

@@ -6,7 +6,7 @@
 #include <base/JointLimits.hpp>
 #include <base/commands/Joints.hpp>
 
-namespace ctrl_lib {
+namespace wbc {
 
 class JointLimitAvoidanceController : public PotentialFieldsController{
 protected:

src/controllers/JointPosPDController.cpp

@@ -1,6 +1,6 @@
 #include "JointPosPDController.hpp"
 
-namespace ctrl_lib{
+namespace wbc{
 
 JointPosPDController::JointPosPDController(const std::vector<std::string>& joint_names) :
     PosPDController(joint_names.size()),

src/controllers/JointPosPDController.hpp

@@ -1,10 +1,10 @@
-#ifndef CTRL_LIB_JOINT_POS_PD_CONTROLLER_HPP
-#define CTRL_LIB_JOINT_POS_PD_CONTROLLER_HPP
+#ifndef WBC_JOINT_POS_PD_CONTROLLER_HPP
+#define WBC_JOINT_POS_PD_CONTROLLER_HPP
 
 #include "PosPDController.hpp"
 #include <base/commands/Joints.hpp>
 
-namespace ctrl_lib {
+namespace wbc {
 
 /**
  * @brief The JointPosPDController class implements a PD Controller with feed forward on the base-Joints type. The following control schemes are available:

src/controllers/JointTorquePIDController.cpp

@@ -1,6 +1,6 @@
 #include "JointTorquePIDController.hpp"
 
-namespace ctrl_lib{
+namespace wbc{
 
 JointTorquePIDController::JointTorquePIDController(const std::vector<std::string>& joint_names) :
     PIDController(joint_names.size()),

src/controllers/JointTorquePIDController.hpp

@@ -4,7 +4,7 @@
 #include "PIDController.hpp"
 #include <base/commands/Joints.hpp>
 
-namespace ctrl_lib{
+namespace wbc{
 
 class JointTorquePIDController : public PIDController{
 protected:

src/controllers/PIDController.cpp

@@ -2,7 +2,7 @@
 
 using namespace std;
 
-namespace ctrl_lib{
+namespace wbc{
 
 PIDController::PIDController(uint dimension) :
     dimension(dimension){

src/controllers/PIDController.hpp

@@ -4,7 +4,7 @@
 #include <base/Eigen.hpp>
 #include "PIDCtrlParams.hpp"
 
-namespace ctrl_lib{
+namespace wbc{
 
 /**
  * @brief The PIDController class implements an n-dimensional PID controller

src/controllers/PIDCtrlParams.hpp

@@ -3,7 +3,7 @@
 
 #include <base/Eigen.hpp>
 
-namespace ctrl_lib{
+namespace wbc{
 
 class PIDCtrlParams{
 public:

src/controllers/PlanarPotentialField.cpp

@@ -1,6 +1,6 @@
 #include "PlanarPotentialField.hpp"
 
-using namespace ctrl_lib;
+using namespace wbc;
 
 PlanarPotentialField::PlanarPotentialField(const std::string &_name)
     : PotentialField(3, _name){

src/controllers/PlanarPotentialField.hpp

@@ -2,7 +2,7 @@
 
 #include "PotentialField.hpp"
 
-namespace ctrl_lib{
+namespace wbc{
 
 class PotentialField;
 

src/controllers/PosPDController.cpp

@@ -1,6 +1,6 @@
 #include "PosPDController.hpp"
 
-namespace ctrl_lib {
+namespace wbc {
 
 PosPDController::PosPDController(size_t dim_controller) :
     dim_controller(dim_controller){

src/controllers/PosPDController.hpp

@@ -3,7 +3,7 @@
 
 #include <base/Eigen.hpp>
 
-namespace ctrl_lib {
+namespace wbc {
 
 /**
  * @brief The PosPDController class implements the following two control scemes

src/controllers/PotentialField.hpp

@@ -5,7 +5,7 @@
 #include <stdexcept>
 #include <memory>
 
-namespace ctrl_lib{
+namespace wbc{
 
 /**
  *  @brief Base class for potential fields

src/controllers/PotentialFieldInfo.hpp

@@ -3,7 +3,7 @@
 
 #include "PotentialField.hpp"
 
-namespace ctrl_lib {
+namespace wbc {
 
 struct PotentialFieldInfo{
 

src/controllers/PotentialFieldsController.cpp

@@ -2,7 +2,7 @@
 #include <stdexcept>
 #include <limits>
 
-using namespace ctrl_lib;
+using namespace wbc;
 using namespace std;
 
 PotentialFieldsController::PotentialFieldsController(const uint _dimension)

src/controllers/PotentialFieldsController.hpp

@@ -4,7 +4,7 @@
 #include "PotentialFieldInfo.hpp"
 #include <vector>
 
-namespace ctrl_lib{
+namespace wbc{
 
 /**
  * @brief Base class for potential field controllers

src/controllers/RadialPotentialField.cpp

@@ -1,6 +1,6 @@
 #include "RadialPotentialField.hpp"
 
-using namespace ctrl_lib;
+using namespace wbc;
 
 RadialPotentialField::RadialPotentialField(const uint _dimension, const std::string& _name)
     : PotentialField(_dimension, _name){

src/controllers/RadialPotentialField.hpp

@@ -2,7 +2,7 @@
 
 #include "PotentialField.hpp"
 
-namespace ctrl_lib{
+namespace wbc{
 
 /**
  * @brief Radial Potential field. The computed gradient will be constant on volumnes with

src/controllers/test/test_pid_controllers.cpp

@@ -7,7 +7,7 @@
 #include <base/samples//RigidBodyStateSE3.hpp>
 
 using namespace std;
-using namespace ctrl_lib;
+using namespace wbc;
 
 
 BOOST_AUTO_TEST_CASE(configuration_test){

src/controllers/test/test_pos_pd_controllers.cpp

@@ -10,7 +10,7 @@
 #include <base/samples/RigidBodyStateSE3.hpp>
 
 using namespace std;
-using namespace ctrl_lib;
+using namespace wbc;
 
 
 BOOST_AUTO_TEST_CASE(configuration_test){

src/controllers/test/test_pot_field_controllers.cpp

@@ -10,7 +10,7 @@
 #include "../JointLimitAvoidanceController.hpp"
 
 using namespace std;
-using namespace ctrl_lib;
+using namespace wbc;
 
 void runPotentialFieldController(std::string filename,
                                  CartesianPotentialFieldsController* ctrl,

tutorials/kuka_iiwa/cart_pos_ctrl_hls.cpp

@@ -78,7 +78,7 @@ int main(){
     //    v_d = kd*v_r + kp(x_r - x).
     //
     // As we don't use feed forward velocity here, we can ignore the factor kd.
-    ctrl_lib::CartesianPosPDController controller;
+    CartesianPosPDController controller;
     controller.setPGain(base::Vector6d::Constant(1)); // Set kp
 
     // Choose an initial joint state. For velocity-based WBC only the current position of all joint has to be passed

tutorials/kuka_iiwa/cart_pos_ctrl_hls_hierarchies.cpp

@@ -63,9 +63,9 @@ int main(int argc, char** argv){
         return -1;
 
     // Configure the controllers, one Cartesian position controller, one joint Position controller
-    ctrl_lib::CartesianPosPDController cart_controller;
+    CartesianPosPDController cart_controller;
     cart_controller.setPGain(base::Vector6d::Constant(1)); // Set kp
-    ctrl_lib::JointPosPDController jnt_controller(jnt_task.joint_names);
+    JointPosPDController jnt_controller(jnt_task.joint_names);
     base::VectorXd p_gain(1);
     p_gain.setConstant(1);
     jnt_controller.setPGain(p_gain);

tutorials/kuka_iiwa/cart_pos_ctrl_hls_weights.cpp

@@ -64,7 +64,7 @@ int main(){
     //    v_d = kd*v_r + kp(x_r - x).
     //
     // As we don't use feed forward velocity here, we can ignore the factor kd.
-    ctrl_lib::CartesianPosPDController controller;
+    CartesianPosPDController controller;
     controller.setPGain(base::Vector6d::Constant(1)); // Set kp
 
     // Choose an initial joint state. For velocity-based WBC only the current position of all joint has to be passed

tutorials/kuka_iiwa/cart_pos_ctrl_qpoases.cpp

@@ -83,7 +83,7 @@ int main(){
     //    v_d = kd*v_r + kp(x_r - x).
     //
     // As we don't use feed forward velocity here, we can ignore the factor kd.
-    ctrl_lib::CartesianPosPDController controller;
+    CartesianPosPDController controller;
     controller.setPGain(base::Vector6d::Constant(1));
 
     // Choose an initial joint state. For velocity-based WBC only the current position of all joint has to be passed

tutorials/rh5/rh5_legs_floating_base.cpp

@@ -10,7 +10,7 @@
 using namespace wbc;
 using namespace std;
 using namespace qpOASES;
-using namespace ctrl_lib;
+using namespace wbc;
 
 /**
  * Velocity-based example, Cartesian position control on two 6 dof legs of the RH5 humanoid including floating base and two contact points (feet).

tutorials/rh5/rh5_single_leg.cpp

@@ -8,7 +8,7 @@
 using namespace wbc;
 using namespace std;
 using namespace qpOASES;
-using namespace ctrl_lib;
+using namespace wbc;
 
 /**
  * Velocity-based example, Cartesian position control on 6 dof leg of the RH5 humanoid (fixed base/fully actuated, serial robot model). In the example the following problem is solved:

tutorials/rh5/rh5_single_leg_hybrid.cpp

@@ -7,7 +7,6 @@
 using namespace wbc;
 using namespace std;
 using namespace qpOASES;
-using namespace ctrl_lib;
 
 /**
  * Velocity-based example, exact same problem as in the rh5_single_leg example. The only difference is that here we use the hybrid robot model, i.e. we

tutorials/rh5v2/rh5v2.cpp

@@ -7,7 +7,7 @@
 
 using namespace std;
 using namespace wbc;
-using namespace ctrl_lib;
+using namespace wbc;
 
 /**
  * Acceleration-based example, Cartesian position control of the RH5v2 arms (fixed base, no contacts).

tutorials/rh5v2/rh5v2_hybrid.cpp

@@ -6,7 +6,6 @@
 
 using namespace std;
 using namespace wbc;
-using namespace ctrl_lib;
 
 /**
  * Acceleration-based example, same problem as in the rh5v2 example. The only difference is that here we use the hybrid robot model, i.e. we