diff --git a/CMakeLists.txt b/CMakeLists.txt index a67f79a..d52e472 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -34,7 +34,7 @@ endif() add_subdirectory(${PROJECT_SOURCE_DIR}/third-party/yaml-cpp) add_subdirectory(${PROJECT_SOURCE_DIR}/third-party/SDL) add_subdirectory(${PROJECT_SOURCE_DIR}/planning) -add_subdirectory(${PROJECT_SOURCE_DIR}/tools) +add_subdirectory(${PROJECT_SOURCE_DIR}/tools/visualizer) include_directories( ${CMAKE_CURRENT_SOURCE_DIR} @@ -59,5 +59,5 @@ add_executable( main.cpp ) -target_link_libraries(main a_star bfs dfs rrt rrt_star visualizer yaml-cpp) +target_link_libraries(main astar bfs dfs rrt rrt_star visualizer yaml-cpp) target_compile_features(main PRIVATE cxx_std_17) diff --git a/README.md b/README.md index 1ec3c52..89d9e74 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,7 @@ path-planning/ │ ├── CmakeLists.txt │ ├── grid_base │ │ ├── CmakeLists.txt -│ │ ├── a_star/.. +│ │ ├── /.. │ │ ├── bfs/.. │ │ └── dfs/.. │ └── tree_base diff --git a/main.cpp b/main.cpp index d5a6e7e..92d433b 100644 --- a/main.cpp +++ b/main.cpp @@ -9,15 +9,15 @@ * */ -#include "planning/grid_base/a_star/a_star.h" -#include "planning/grid_base/bfs/bfs.h" -#include "planning/grid_base/dfs/dfs.h" -#include "planning/grid_base/include/common_grid_base.h" - -#include "planning/include/i_planning.h" -#include "planning/tree_base/rrt/rrt.h" -#include "planning/tree_base/rrt_star/rrt_star.h" -#include "tools/include/visualizer.h" +#include "grid_base/astar/astar.h" +#include "grid_base/bfs/bfs.h" +#include "grid_base/dfs/dfs.h" +#include "utility/common_grid_base.h" + +#include "tools/visualizer/visualizer.h" +#include "tree_base/rrt/rrt.h" +#include "tree_base/rrt_star/rrt_star.h" +#include "utility/i_planning.h" #include "yaml-cpp/yaml.h" #include diff --git a/planning/CMakeLists.txt b/planning/CMakeLists.txt index 56b6f15..f062efe 100644 --- a/planning/CMakeLists.txt +++ b/planning/CMakeLists.txt @@ -1,5 +1,3 @@ -cmake_minimum_required(VERSION 3.22) - include_directories( ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/include @@ -17,5 +15,9 @@ set( ${CMAKE_CURRENT_SOURCE_DIR}/src/common_planning.cpp ) -add_subdirectory(grid_base) -add_subdirectory(tree_base) +add_subdirectory(grid_base/astar) +add_subdirectory(grid_base/bfs) +add_subdirectory(grid_base/dfs) +add_subdirectory(tree_base/rrt) +add_subdirectory(tree_base/rrt_star) +add_subdirectory(utility) \ No newline at end of file diff --git a/planning/grid_base/CMakeLists.txt b/planning/grid_base/CMakeLists.txt deleted file mode 100644 index 55577ab..0000000 --- a/planning/grid_base/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 3.22) - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_SOURCE_DIR}/include - ${PROJECT_SOURCE_DIR} -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_SOURCE_DIR}/include - ${PROJECT_SOURCE_DIR} -) - -set( - COMMON_GRID_BASE - ${CMAKE_CURRENT_SOURCE_DIR}/src/common_grid_base.cpp -) - -add_library( - common_grid_base SHARED - ${COMMON_GRID_BASE} - ${COMMON_PLANNING_FILES} -) - -add_subdirectory(a_star) -add_subdirectory(bfs) -add_subdirectory(dfs) diff --git a/planning/grid_base/a_star/CMakeLists.txt b/planning/grid_base/a_star/CMakeLists.txt deleted file mode 100644 index f243178..0000000 --- a/planning/grid_base/a_star/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 3.22) - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -set( - A_STAR_FILES - ${CMAKE_CURRENT_SOURCE_DIR}/a_star.cpp -) - -add_library( - a_star - SHARED - ${A_STAR_FILES} -) - -target_link_libraries( - a_star - PUBLIC - common_grid_base -) diff --git a/planning/grid_base/astar/CMakeLists.txt b/planning/grid_base/astar/CMakeLists.txt new file mode 100644 index 0000000..f24e51e --- /dev/null +++ b/planning/grid_base/astar/CMakeLists.txt @@ -0,0 +1,18 @@ +add_library( + astar + SHARED + ${CMAKE_CURRENT_SOURCE_DIR}/astar.cpp +) + +target_include_directories( + astar + PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} + ${PROJECT_SOURCE_DIR}/planning/utility +) + +target_link_libraries( + astar + PUBLIC + common_grid_base +) diff --git a/planning/grid_base/a_star/a_star.cpp b/planning/grid_base/astar/astar.cpp similarity index 99% rename from planning/grid_base/a_star/a_star.cpp rename to planning/grid_base/astar/astar.cpp index 6a1612d..eea83e2 100644 --- a/planning/grid_base/a_star/a_star.cpp +++ b/planning/grid_base/astar/astar.cpp @@ -9,7 +9,7 @@ * */ -#include "a_star.h" +#include "astar.h" #include #include diff --git a/planning/grid_base/a_star/a_star.h b/planning/grid_base/astar/astar.h similarity index 92% rename from planning/grid_base/a_star/a_star.h rename to planning/grid_base/astar/astar.h index 0e6e0ee..57dbac8 100644 --- a/planning/grid_base/a_star/a_star.h +++ b/planning/grid_base/astar/astar.h @@ -12,8 +12,8 @@ #ifndef PLANNING_GRID_BASE_A_STAR_A_STAR_H_ #define PLANNING_GRID_BASE_A_STAR_A_STAR_H_ -#include "planning/grid_base/include/common_grid_base.h" -#include "planning/include/i_planning.h" +#include "utility/common_grid_base.h" +#include "utility/i_planning.h" #include #include diff --git a/planning/grid_base/bfs/CMakeLists.txt b/planning/grid_base/bfs/CMakeLists.txt index 47f7939..2d27333 100644 --- a/planning/grid_base/bfs/CMakeLists.txt +++ b/planning/grid_base/bfs/CMakeLists.txt @@ -1,23 +1,13 @@ -cmake_minimum_required(VERSION 3.22) - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -set( - BFS_FILES +add_library( + bfs + SHARED ${CMAKE_CURRENT_SOURCE_DIR}/bfs.cpp ) -add_library( - bfs SHARED - ${BFS_FILES} +target_include_directories( + bfs + PUBLIC + ${PROJECT_SOURCE_DIR}/planning/utility ) target_link_libraries( diff --git a/planning/grid_base/bfs/bfs.h b/planning/grid_base/bfs/bfs.h index 2cedf8f..c957fcd 100644 --- a/planning/grid_base/bfs/bfs.h +++ b/planning/grid_base/bfs/bfs.h @@ -12,8 +12,8 @@ #ifndef PLANNING_GRID_BASE_BFS_BFS_H_ #define PLANNING_GRID_BASE_BFS_BFS_H_ -#include "planning/grid_base/include/common_grid_base.h" -#include "planning/include/i_planning.h" +#include "utility/common_grid_base.h" +#include "utility/i_planning.h" #include #include #include diff --git a/planning/grid_base/dfs/CMakeLists.txt b/planning/grid_base/dfs/CMakeLists.txt index d6c1cf5..7a8c5a8 100644 --- a/planning/grid_base/dfs/CMakeLists.txt +++ b/planning/grid_base/dfs/CMakeLists.txt @@ -1,23 +1,13 @@ -cmake_minimum_required(VERSION 3.22) - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -set( - DFS_FILES +add_library( + dfs + SHARED ${CMAKE_CURRENT_SOURCE_DIR}/dfs.cpp ) -add_library( - dfs SHARED - ${DFS_FILES} +target_include_directories( + dfs + PUBLIC + ${PROJECT_SOURCE_DIR}/planning/utility ) target_link_libraries( diff --git a/planning/grid_base/dfs/dfs.h b/planning/grid_base/dfs/dfs.h index cdbf1d9..6b3abde 100644 --- a/planning/grid_base/dfs/dfs.h +++ b/planning/grid_base/dfs/dfs.h @@ -12,8 +12,8 @@ #ifndef PLANNING_GRID_BASE_DFS_DFS_H_ #define PLANNING_GRID_BASE_DFS_DFS_H_ -#include "planning/grid_base/include/common_grid_base.h" -#include "planning/include/i_planning.h" +#include "utility/common_grid_base.h" +#include "utility/i_planning.h" #include #include #include diff --git a/planning/tree_base/CMakeLists.txt b/planning/tree_base/CMakeLists.txt deleted file mode 100644 index 984fa3e..0000000 --- a/planning/tree_base/CMakeLists.txt +++ /dev/null @@ -1,29 +0,0 @@ -cmake_minimum_required(VERSION 3.22) - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_SOURCE_DIR}/include - ${PROJECT_SOURCE_DIR} -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_SOURCE_DIR}/include - ${PROJECT_SOURCE_DIR} -) - -set( - COMMON_TREE_BASE - ${CMAKE_CURRENT_SOURCE_DIR}/src/common_tree_base.cpp -) - -add_library( - common_tree_base SHARED - ${COMMON_TREE_BASE} - ${COMMON_PLANNING_FILES} -) - - -add_subdirectory(rrt) -add_subdirectory(rrt_star) -add_subdirectory(test) \ No newline at end of file diff --git a/planning/tree_base/rrt/CMakeLists.txt b/planning/tree_base/rrt/CMakeLists.txt index 2144404..1a29201 100644 --- a/planning/tree_base/rrt/CMakeLists.txt +++ b/planning/tree_base/rrt/CMakeLists.txt @@ -1,24 +1,19 @@ -cmake_minimum_required(VERSION 3.22) - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} +add_library( + rrt + SHARED + ${CMAKE_CURRENT_SOURCE_DIR}/rrt.cpp ) -set( - RRT_FILES - ${CMAKE_CURRENT_SOURCE_DIR}/rrt.cpp +target_include_directories( + rrt + PUBLIC + ${PROJECT_SOURCE_DIR}/planning/utility ) -add_library( - rrt - SHARED - ${RRT_FILES} +target_link_directories( + rrt + PUBLIC + ${PROJECT_SOURCE_DIR}/planning/utility ) target_link_libraries( diff --git a/planning/tree_base/rrt/rrt.cpp b/planning/tree_base/rrt/rrt.cpp index 477ff06..4a1dbe2 100644 --- a/planning/tree_base/rrt/rrt.cpp +++ b/planning/tree_base/rrt/rrt.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/tree_base/rrt/rrt.h" +#include "rrt.h" #include #include #include diff --git a/planning/tree_base/rrt/rrt.h b/planning/tree_base/rrt/rrt.h index 54764da..98d5f9b 100644 --- a/planning/tree_base/rrt/rrt.h +++ b/planning/tree_base/rrt/rrt.h @@ -12,8 +12,8 @@ #ifndef PLANNING_TREE_BASE_RRT_STAR_RRT_STAR_H_ #define PLANNING_TREE_BASE_RRT_STAR_RRT_STAR_H_ -#include "planning/include/i_planning.h" -#include "planning/tree_base/include/common_tree_base.h" +#include "utility/common_tree_base.h" +#include "utility/i_planning.h" #include #include diff --git a/planning/tree_base/rrt_star/CMakeLists.txt b/planning/tree_base/rrt_star/CMakeLists.txt index e8e6f22..f19c94c 100644 --- a/planning/tree_base/rrt_star/CMakeLists.txt +++ b/planning/tree_base/rrt_star/CMakeLists.txt @@ -1,28 +1,17 @@ -cmake_minimum_required(VERSION 3.22) - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -set( - RRT_STAR_FILES +add_library( + rrt_star + SHARED ${CMAKE_CURRENT_SOURCE_DIR}/rrt_star.cpp ) -add_library( - rrt_star - SHARED - ${RRT_STAR_FILES} +target_include_directories( + rrt_star + PUBLIC + ${PROJECT_SOURCE_DIR}/planning/utility ) target_link_libraries( rrt_star PUBLIC common_tree_base -) \ No newline at end of file +) diff --git a/planning/tree_base/rrt_star/rrt_star.cpp b/planning/tree_base/rrt_star/rrt_star.cpp index 9b1cfe1..379e0dd 100644 --- a/planning/tree_base/rrt_star/rrt_star.cpp +++ b/planning/tree_base/rrt_star/rrt_star.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/tree_base/rrt_star/rrt_star.h" +#include "rrt_star.h" #include "common_tree_base.h" #include "node_parent.h" diff --git a/planning/tree_base/rrt_star/rrt_star.h b/planning/tree_base/rrt_star/rrt_star.h index 3ae5788..cdbe63e 100644 --- a/planning/tree_base/rrt_star/rrt_star.h +++ b/planning/tree_base/rrt_star/rrt_star.h @@ -12,8 +12,8 @@ #ifndef PLANNING_TREE_BASE_RRT_RRT_H_ #define PLANNING_TREE_BASE_RRT_RRT_H_ -#include "planning/include/i_planning.h" -#include "planning/tree_base/include/common_tree_base.h" +#include "utility/common_tree_base.h" +#include "utility/i_planning.h" #include #include #include diff --git a/planning/tree_base/test/CMakeLists.txt b/planning/tree_base/test/CMakeLists.txt deleted file mode 100644 index e2ea4ac..0000000 --- a/planning/tree_base/test/CMakeLists.txt +++ /dev/null @@ -1,32 +0,0 @@ -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR} -) - -include(FetchContent) -FetchContent_Declare( - googletest - URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip -) -# # For Windows: Prevent overriding the parent project's compiler/linker settings -# set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) -FetchContent_MakeAvailable(googletest) - -add_executable( - test_ray_cast - test_ray_cast.cpp -) - -target_link_libraries( - test_ray_cast - common_tree_base - GTest::gtest_main -) - -include(GoogleTest) -gtest_discover_tests(test_ray_cast) \ No newline at end of file diff --git a/planning/utility/CMakeLists.txt b/planning/utility/CMakeLists.txt new file mode 100644 index 0000000..7ee6ddc --- /dev/null +++ b/planning/utility/CMakeLists.txt @@ -0,0 +1,35 @@ +add_library( + common_planning + SHARED + ${CMAKE_CURRENT_SOURCE_DIR}/common_planning.cpp +) + +target_include_directories( + common_planning + PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) + +add_library( + common_grid_base + SHARED + ${CMAKE_CURRENT_SOURCE_DIR}/common_grid_base.cpp +) + +target_include_directories( + common_grid_base + PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) + +add_library( + common_tree_base + SHARED + ${CMAKE_CURRENT_SOURCE_DIR}/common_tree_base.cpp +) + +target_include_directories( + common_tree_base + PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) \ No newline at end of file diff --git a/planning/grid_base/src/common_grid_base.cpp b/planning/utility/common_grid_base.cpp similarity index 89% rename from planning/grid_base/src/common_grid_base.cpp rename to planning/utility/common_grid_base.cpp index f7a70b6..4967f0b 100644 --- a/planning/grid_base/src/common_grid_base.cpp +++ b/planning/utility/common_grid_base.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/grid_base/include/common_grid_base.h" +#include "common_grid_base.h" namespace planning { diff --git a/planning/grid_base/include/common_grid_base.h b/planning/utility/common_grid_base.h similarity index 88% rename from planning/grid_base/include/common_grid_base.h rename to planning/utility/common_grid_base.h index 81ffff4..397eb70 100644 --- a/planning/grid_base/include/common_grid_base.h +++ b/planning/utility/common_grid_base.h @@ -12,8 +12,8 @@ #ifndef PLANNING_GRID_BASE_INCLUDE_COMMON_GRID_BASE_H_ #define PLANNING_GRID_BASE_INCLUDE_COMMON_GRID_BASE_H_ -#include "planning/include/common_planning.h" -#include "planning/include/data_types.h" +#include "common_planning.h" +#include "data_types.h" #include #include diff --git a/planning/src/common_planning.cpp b/planning/utility/common_planning.cpp similarity index 98% rename from planning/src/common_planning.cpp rename to planning/utility/common_planning.cpp index 3d80607..22ed6bc 100644 --- a/planning/src/common_planning.cpp +++ b/planning/utility/common_planning.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/include/common_planning.h" +#include "common_planning.h" namespace planning { diff --git a/planning/include/common_planning.h b/planning/utility/common_planning.h similarity index 97% rename from planning/include/common_planning.h rename to planning/utility/common_planning.h index 99f1943..aeb0f2b 100644 --- a/planning/include/common_planning.h +++ b/planning/utility/common_planning.h @@ -12,7 +12,7 @@ #ifndef PLANNING_INCLUDE_COMMON_PLANNING_H_ #define PLANNING_INCLUDE_COMMON_PLANNING_H_ -#include "planning/include/node_parent.h" +#include "node_parent.h" #include #include diff --git a/planning/tree_base/src/common_tree_base.cpp b/planning/utility/common_tree_base.cpp similarity index 99% rename from planning/tree_base/src/common_tree_base.cpp rename to planning/utility/common_tree_base.cpp index 5de7301..c15fed3 100644 --- a/planning/tree_base/src/common_tree_base.cpp +++ b/planning/utility/common_tree_base.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/tree_base/include/common_tree_base.h" +#include "common_tree_base.h" #include #include diff --git a/planning/tree_base/include/common_tree_base.h b/planning/utility/common_tree_base.h similarity index 96% rename from planning/tree_base/include/common_tree_base.h rename to planning/utility/common_tree_base.h index 76810b1..a784943 100644 --- a/planning/tree_base/include/common_tree_base.h +++ b/planning/utility/common_tree_base.h @@ -12,8 +12,8 @@ #ifndef PLANNING_TREE_BASE_INCLUDE_COMMON_TREE_BASE_H_ #define PLANNING_TREE_BASE_INCLUDE_COMMON_TREE_BASE_H_ -#include "planning/include/common_planning.h" -#include "planning/include/i_planning.h" +#include "common_planning.h" +#include "i_planning.h" #include #include #include diff --git a/planning/include/data_types.h b/planning/utility/data_types.h similarity index 98% rename from planning/include/data_types.h rename to planning/utility/data_types.h index 142b5b2..cf4b75c 100644 --- a/planning/include/data_types.h +++ b/planning/utility/data_types.h @@ -12,8 +12,8 @@ #ifndef PLANNING_INCLUDE_DATA_TYPES_H_ #define PLANNING_INCLUDE_DATA_TYPES_H_ +#include #include -#include #include namespace planning diff --git a/planning/include/i_planning.h b/planning/utility/i_planning.h similarity index 93% rename from planning/include/i_planning.h rename to planning/utility/i_planning.h index cf1bf0f..17b766e 100644 --- a/planning/include/i_planning.h +++ b/planning/utility/i_planning.h @@ -12,8 +12,8 @@ #ifndef PLANNING_INCLUDE_I_PLANNING_H_ #define PLANNING_INCLUDE_I_PLANNING_H_ -#include "planning/include/data_types.h" -#include "planning/include/node_parent.h" +#include "data_types.h" +#include "node_parent.h" #include #include diff --git a/planning/include/node_parent.h b/planning/utility/node_parent.h similarity index 97% rename from planning/include/node_parent.h rename to planning/utility/node_parent.h index c70140f..6f62658 100644 --- a/planning/include/node_parent.h +++ b/planning/utility/node_parent.h @@ -12,7 +12,8 @@ #ifndef PLANNING_INCLUDE_NODE_PARENT_H_ #define PLANNING_INCLUDE_NODE_PARENT_H_ -#include "planning/include/data_types.h" +#include "data_types.h" +#include namespace planning { diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index eea6f92..f532a26 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -1,6 +1,8 @@ include_directories( ${CMAKE_CURRENT_SOURCE_DIR} ${PROJECT_SOURCE_DIR} + ${PROJECT_SOURCE_DIR}/planning/utility + ${PROJECT_SOURCE_DIR}/planning/ ) link_directories( @@ -25,11 +27,12 @@ set(TARGET_LIST test_access_data test_rrt_star test_rrt + test_ray_cast ) foreach(TARGET ${TARGET_LIST}) add_executable(${TARGET} ${TARGET}.cpp) - target_link_libraries(${TARGET} GTest::gtest_main common_grid_base a_star bfs dfs rrt_star rrt) + target_link_libraries(${TARGET} GTest::gtest_main astar bfs dfs rrt_star rrt common_grid_base common_tree_base common_planning) add_test(NAME ${TARGET} COMMAND ${TARGET}) endforeach() diff --git a/test/test_a_star.cpp b/test/test_a_star.cpp index 355c2e3..90137d1 100644 --- a/test/test_a_star.cpp +++ b/test/test_a_star.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/grid_base/a_star/a_star.h" +#include "grid_base/astar/astar.h" #include "test_fixture.h" #include diff --git a/test/test_access_data.cpp b/test/test_access_data.cpp index 4835c51..83ea92c 100644 --- a/test/test_access_data.cpp +++ b/test/test_access_data.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/grid_base/include/common_grid_base.h" +#include "utility/common_grid_base.h" #include #include diff --git a/test/test_bfs.cpp b/test/test_bfs.cpp index 2c28b2e..4b9562d 100644 --- a/test/test_bfs.cpp +++ b/test/test_bfs.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/grid_base/bfs/bfs.h" +#include "grid_base/bfs/bfs.h" #include "test_fixture.h" namespace planning diff --git a/test/test_dfs.cpp b/test/test_dfs.cpp index 6c49956..65f0f0a 100644 --- a/test/test_dfs.cpp +++ b/test/test_dfs.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/grid_base/dfs/dfs.h" +#include "grid_base/dfs/dfs.h" #include "test_fixture.h" namespace planning diff --git a/test/test_fixture.h b/test/test_fixture.h index 117b6f9..54f3554 100644 --- a/test/test_fixture.h +++ b/test/test_fixture.h @@ -12,7 +12,7 @@ #ifndef TEST_TEST_FIXTURE_H_ #define TEST_TEST_FIXTURE_H_ -#include "planning/grid_base/include/common_grid_base.h" +#include "utility/common_grid_base.h" #include #include #include diff --git a/test/test_map.cpp b/test/test_map.cpp index b7e1cd3..0ef1fe2 100644 --- a/test/test_map.cpp +++ b/test/test_map.cpp @@ -9,8 +9,8 @@ * */ -#include "planning/grid_base/include/common_grid_base.h" #include "test_fixture.h" +#include "utility/common_grid_base.h" #include namespace planning diff --git a/planning/tree_base/test/test_ray_cast.cpp b/test/test_ray_cast.cpp similarity index 88% rename from planning/tree_base/test/test_ray_cast.cpp rename to test/test_ray_cast.cpp index df0a08b..abe1610 100644 --- a/planning/tree_base/test/test_ray_cast.cpp +++ b/test/test_ray_cast.cpp @@ -9,7 +9,7 @@ * */ -#include "planning/tree_base/include/common_tree_base.h" +#include "utility/common_tree_base.h" #include diff --git a/test/test_rrt.cpp b/test/test_rrt.cpp index c2ef3bf..a62abf2 100644 --- a/test/test_rrt.cpp +++ b/test/test_rrt.cpp @@ -9,8 +9,8 @@ * */ -#include "planning/tree_base/rrt/rrt.h" #include "test_fixture.h" +#include "tree_base/rrt/rrt.h" #include namespace planning diff --git a/test/test_rrt_star.cpp b/test/test_rrt_star.cpp index ddf6067..b8a35d7 100644 --- a/test/test_rrt_star.cpp +++ b/test/test_rrt_star.cpp @@ -9,8 +9,8 @@ * */ -#include "planning/tree_base/rrt_star/rrt_star.h" #include "test_fixture.h" +#include "tree_base/rrt_star/rrt_star.h" #include namespace planning diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt deleted file mode 100644 index f59cf94..0000000 --- a/tools/CMakeLists.txt +++ /dev/null @@ -1,36 +0,0 @@ -cmake_minimum_required(VERSION 3.22) - -include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_SOURCE_DIR}/include - ${PROJECT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR}/third-party/SDL/include - -) - -link_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_SOURCE_DIR}/include - ${PROJECT_SOURCE_DIR} - ${PROJECT_SOURCE_DIR}/third-party/SDL/include -) - - -add_library( - visualizer - STATIC - src/visualizer.cpp -) - -target_include_directories(visualizer PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_SOURCE_DIR}/include -) - -target_link_libraries( - visualizer - PUBLIC - common_tree_base - SDL3::SDL3 -) - diff --git a/tools/visualizer/CMakeLists.txt b/tools/visualizer/CMakeLists.txt new file mode 100644 index 0000000..21195d0 --- /dev/null +++ b/tools/visualizer/CMakeLists.txt @@ -0,0 +1,19 @@ +add_library( + visualizer + STATIC + visualizer.cpp +) + +target_include_directories(visualizer PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} + ${PROJECT_SOURCE_DIR}/third-party/SDL/include + ${PROJECT_SOURCE_DIR}/planning +) + +target_link_libraries( + visualizer + PUBLIC + common_planning + SDL3::SDL3 +) + diff --git a/tools/src/visualizer.cpp b/tools/visualizer/visualizer.cpp similarity index 98% rename from tools/src/visualizer.cpp rename to tools/visualizer/visualizer.cpp index e407e31..f624881 100644 --- a/tools/src/visualizer.cpp +++ b/tools/visualizer/visualizer.cpp @@ -9,14 +9,13 @@ * */ -#include "tools/include/visualizer.h" +#include "visualizer.h" #include "SDL3/SDL_error.h" #include "SDL3/SDL_events.h" #include "SDL3/SDL_init.h" #include "SDL3/SDL_rect.h" #include "SDL3/SDL_render.h" #include "SDL3/SDL_video.h" -#include "planning/include/data_types.h" #include #include #include diff --git a/tools/include/visualizer.h b/tools/visualizer/visualizer.h similarity index 94% rename from tools/include/visualizer.h rename to tools/visualizer/visualizer.h index 6759368..c865f12 100644 --- a/tools/include/visualizer.h +++ b/tools/visualizer/visualizer.h @@ -13,9 +13,9 @@ #define TOOLS_INCLUDE_VISUALIZER_H_ #include "SDL3/SDL.h" -#include "planning/include/data_types.h" -#include "planning/include/i_planning.h" -#include "planning/tree_base/include/common_tree_base.h" +#include "utility/common_planning.h" +#include "utility/common_tree_base.h" +#include "utility/i_planning.h" #include #include #include