Moves 'multibody/constraint' into a private location. Remove old (wro…

…ng) references in our Doxygen documentation.
RobotLocomotion · May 21, 2024 · d3aa15d · d3aa15d
1 parent 91e03c5
commit d3aa15d
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Showing 12 changed files with 178 additions and 212 deletions.
diff --git a/doc/doxygen_cxx/doxygen.h b/doc/doxygen_cxx/doxygen.h
@@ -167,11 +167,6 @@ namespace solvers {
 */
 } // namespace solvers
 
-/**
-  @defgroup constraint_overview Multibody Dynamics Constraints
-  @ingroup multibody
-*/
-
 // TODO(russt): Take a thorough pass through the algorithms group
 // documentation, adding brief descriptions of each and tagging the relevant
 // algorithms throughout the code.

diff --git a/examples/rod2d/BUILD.bazel b/examples/rod2d/BUILD.bazel
@@ -8,6 +8,19 @@ load(
 
 package(default_visibility = ["//visibility:private"])
 
+drake_cc_library(
+    name = "constraint_solver",
+    srcs = ["constraint_solver.cc"],
+    hdrs = [
+        "constraint_problem_data.h",
+        "constraint_solver.h",
+    ],
+    deps = [
+        "//common:essential",
+        "//solvers:moby_lcp_solver",
+    ],
+)
+
 drake_cc_library(
     name = "rod2d_state_vector",
     srcs = ["rod2d_state_vector.cc"],
@@ -45,11 +58,10 @@ drake_cc_library(
     hdrs = [
         "rod2d.h",
     ],
-    visibility = ["//multibody/constraint:__pkg__"],
     deps = [
+        ":constraint_solver",
         ":rod2d_state_vector",
         "//common:essential",
-        "//multibody/constraint",
         "//solvers:mathematical_program",
         "//systems/framework:leaf_system",
     ],
@@ -77,14 +89,24 @@ drake_cc_library(
 
 # === test/ ===
 
+drake_cc_googletest(
+    name = "constraint_solver_test",
+    deps = [
+        ":constraint_solver",
+        ":rod2d",
+        "//solvers:moby_lcp_solver",
+        "//solvers:unrevised_lemke_solver",
+    ],
+)
+
 drake_cc_googletest(
     name = "rod2d_test",
     deps = [
+        ":constraint_solver",
         ":rod2d",
         "//common:essential",
         "//common/test_utilities:eigen_matrix_compare",
         "//common/test_utilities:expect_no_throw",
-        "//multibody/constraint",
         "//systems/analysis:simulator",
     ],
 )

diff --git a/multibody/constraint/constraint_doxygen.h → examples/rod2d/README.md b/multibody/constraint/constraint_doxygen.h → examples/rod2d/README.md
diff --git a/...body/constraint/constraint_problem_data.h → examples/rod2d/constraint_problem_data.h b/...body/constraint/constraint_problem_data.h → examples/rod2d/constraint_problem_data.h
diff --git a/multibody/constraint/constraint_solver.cc → examples/rod2d/constraint_solver.cc b/multibody/constraint/constraint_solver.cc → examples/rod2d/constraint_solver.cc
@@ -1,4 +1,4 @@
-#include "drake/multibody/constraint/constraint_solver.h"
+#include "drake/examples/rod2d/constraint_solver.h"
 
 namespace drake {
 namespace multibody {

diff --git a/multibody/constraint/constraint_solver.h → examples/rod2d/constraint_solver.h b/multibody/constraint/constraint_solver.h → examples/rod2d/constraint_solver.h
@@ -9,7 +9,7 @@
 
 #include "drake/common/fmt_eigen.h"
 #include "drake/common/text_logging.h"
-#include "drake/multibody/constraint/constraint_problem_data.h"
+#include "drake/examples/rod2d/constraint_problem_data.h"
 #include "drake/solvers/moby_lcp_solver.h"
 
 namespace drake {

diff --git a/...ody/constraint/images/colliding-boxes.png → examples/rod2d/images/colliding-boxes.png b/...ody/constraint/images/colliding-boxes.png → examples/rod2d/images/colliding-boxes.png
diff --git a/examples/rod2d/rod2d.h b/examples/rod2d/rod2d.h
@@ -4,9 +4,9 @@
 #include <utility>
 #include <vector>
 
+#include "drake/examples/rod2d/constraint_problem_data.h"
+#include "drake/examples/rod2d/constraint_solver.h"
 #include "drake/examples/rod2d/rod2d_state_vector.h"
-#include "drake/multibody/constraint/constraint_problem_data.h"
-#include "drake/multibody/constraint/constraint_solver.h"
 #include "drake/solvers/moby_lcp_solver.h"
 #include "drake/systems/framework/leaf_system.h"
 

diff --git a/...constraint/test/constraint_solver_test.cc → ...ples/rod2d/test/constraint_solver_test.cc b/...constraint/test/constraint_solver_test.cc → ...ples/rod2d/test/constraint_solver_test.cc
@@ -1,4 +1,4 @@
-#include "drake/multibody/constraint/constraint_solver.h"
+#include "drake/examples/rod2d/constraint_solver.h"
 
 #include <cmath>
 #include <memory>

diff --git a/examples/rod2d/test/rod2d_test.cc b/examples/rod2d/test/rod2d_test.cc
@@ -6,8 +6,8 @@
 
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
 #include "drake/common/test_utilities/expect_no_throw.h"
-#include "drake/multibody/constraint/constraint_problem_data.h"
-#include "drake/multibody/constraint/constraint_solver.h"
+#include "drake/examples/rod2d/constraint_problem_data.h"
+#include "drake/examples/rod2d/constraint_solver.h"
 #include "drake/systems/analysis/simulator.h"
 
 using drake::multibody::constraint::ConstraintAccelProblemData;

diff --git a/multibody/constraint/BUILD.bazel b/multibody/constraint/BUILD.bazel
diff --git a/tools/install/libdrake/build_components.bzl b/tools/install/libdrake/build_components.bzl
@@ -57,7 +57,6 @@ LIBDRAKE_COMPONENTS = [
     "//multibody/benchmarks/kuka_iiwa_robot",
     "//multibody/benchmarks/mass_damper_spring",
     "//multibody/benchmarks/pendulum",
-    "//multibody/constraint",
     "//multibody/contact_solvers",
     "//multibody/contact_solvers/sap",
     "//multibody/fem",