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Makes multibody/constraint private within examples/rod2d #21445

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merged 6 commits into from
May 22, 2024
Merged

Makes multibody/constraint private within examples/rod2d #21445

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d3aa15d
Moves 'multibody/constraint' into a private location. Remove old (wro…
amcastro-tri May 21, 2024
d3a1080
Merge remote-tracking branch 'upstream/master' into HEAD
jwnimmer-tri May 21, 2024
11806a4
Add back deprecated files
jwnimmer-tri May 21, 2024
2f346cf
Fixes namespaces
amcastro-tri May 22, 2024
a0da38e
Fixes readme
amcastro-tri May 22, 2024
9d1b7ff
enforce clang-format
amcastro-tri May 22, 2024
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5 changes: 0 additions & 5 deletions doc/doxygen_cxx/doxygen.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
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28 changes: 25 additions & 3 deletions examples/rod2d/BUILD.bazel
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Expand Up @@ -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"],
Expand Down Expand Up @@ -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",
],
Expand Down Expand Up @@ -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",
],
)
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287 changes: 146 additions & 141 deletions multibody/constraint/constraint_doxygen.h → examples/rod2d/README.md
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0 ...body/constraint/constraint_problem_data.h → examples/rod2d/constraint_problem_data.h
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2 changes: 1 addition & 1 deletion multibody/constraint/constraint_solver.cc → examples/rod2d/constraint_solver.cc
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@@ -1,4 +1,4 @@
#include "drake/multibody/constraint/constraint_solver.h"
#include "drake/examples/rod2d/constraint_solver.h"

namespace drake {
namespace multibody {
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2 changes: 1 addition & 1 deletion multibody/constraint/constraint_solver.h → examples/rod2d/constraint_solver.h
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Expand Up @@ -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 {
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0 ...ody/constraint/images/colliding-boxes.png → examples/rod2d/images/colliding-boxes.png
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4 changes: 2 additions & 2 deletions examples/rod2d/rod2d.h
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Expand Up @@ -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"

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2 changes: 1 addition & 1 deletion ...constraint/test/constraint_solver_test.cc → ...ples/rod2d/test/constraint_solver_test.cc
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@@ -1,4 +1,4 @@
#include "drake/multibody/constraint/constraint_solver.h"
#include "drake/examples/rod2d/constraint_solver.h"

#include <cmath>
#include <memory>
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4 changes: 2 additions & 2 deletions examples/rod2d/test/rod2d_test.cc
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Expand Up @@ -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;
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55 changes: 0 additions & 55 deletions multibody/constraint/BUILD.bazel
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This file was deleted.

1 change: 0 additions & 1 deletion tools/install/libdrake/build_components.bzl
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Expand Up @@ -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",
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