moved damped least squares to lbr_fri_ros2

lbr-stack · Dec 6, 2023 · 30a3ef2 · 30a3ef2
1 parent c67182d
commit 30a3ef2
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Showing 7 changed files with 17 additions and 11 deletions.
diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/CMakeLists.txt b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/CMakeLists.txt
@@ -11,8 +11,6 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(eigen3_cmake_module REQUIRED)
-find_package(Eigen3 REQUIRED)
 find_package(fri_vendor REQUIRED)
 find_package(FRIClient REQUIRED)
 find_package(kdl_parser REQUIRED)
@@ -34,7 +32,6 @@ target_include_directories(admittance_control_component
 
 ament_target_dependencies(
   admittance_control_component
-  Eigen3
   kdl_parser
   lbr_fri_ros2
   lbr_fri_msgs

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml
@@ -8,11 +8,9 @@
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <exec_depend>lbr_description</exec_depend>
 
-  <depend>eigen</depend>
   <depend>fri_vendor</depend>
   <depend>kdl_parser</depend>
   <depend>lbr_fri_ros2</depend>

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_control_node.cpp b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_control_node.cpp
@@ -8,7 +8,6 @@
 #include "lbr_fri_ros2/app.hpp"
 
 #include "admittance_controller.hpp"
-#include "damped_least_squares.hpp"
 
 namespace lbr_fri_ros2 {
 class AdmittanceControlNode : public rclcpp::Node {

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_controller.hpp b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_controller.hpp
@@ -14,8 +14,7 @@
 
 #include "lbr_fri_msgs/msg/lbr_position_command.hpp"
 #include "lbr_fri_msgs/msg/lbr_state.hpp"
-
-#include "damped_least_squares.hpp"
+#include "lbr_fri_ros2/damped_least_squares.hpp"
 
 namespace lbr_fri_ros2 {
 class AdmittanceController {

diff --git a/lbr_fri_ros2/CMakeLists.txt b/lbr_fri_ros2/CMakeLists.txt
@@ -13,6 +13,8 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(control_toolbox REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3)
 find_package(fri_vendor REQUIRED)
 find_package(FRIClient REQUIRED)
 find_package(lbr_fri_msgs REQUIRED)
@@ -40,6 +42,7 @@ target_include_directories(lbr_fri_ros2
 
 ament_target_dependencies(lbr_fri_ros2
   control_toolbox
+  Eigen3
   lbr_fri_msgs
   rclcpp
   realtime_tools
@@ -53,6 +56,8 @@ target_link_libraries(lbr_fri_ros2
 ament_export_targets(lbr_fri_ros2_export HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   control_toolbox
+  eigen3_cmake_module
+  Eigen3
   fri_vendor
   FRIClient
   lbr_fri_msgs

diff --git a/...advanced_cpp/src/damped_least_squares.hpp → ...ude/lbr_fri_ros2/damped_least_squares.hpp b/...advanced_cpp/src/damped_least_squares.hpp → ...ude/lbr_fri_ros2/damped_least_squares.hpp
@@ -1,9 +1,10 @@
-#ifndef LBR_DEMOS_FRI_ROS2_ADVANCED_CPP__DAMPED_LEAST_SQUARES_HPP_
-#define LBR_DEMOS_FRI_ROS2_ADVANCED_CPP__DAMPED_LEAST_SQUARES_HPP_
+#ifndef LBR_FRI_ROS2__DAMPED_LEAST_SQUARES_HPP_
+#define LBR_FRI_ROS2__DAMPED_LEAST_SQUARES_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/SVD>
 
+namespace lbr_fri_ros2 {
 template <class MatT>
 Eigen::Matrix<typename MatT::Scalar, MatT::ColsAtCompileTime, MatT::RowsAtCompileTime>
 damped_least_squares(const MatT &mat, typename MatT::Scalar lambda =
@@ -21,4 +22,5 @@ damped_least_squares(const MatT &mat, typename MatT::Scalar lambda =
   }
   return svd.matrixV() * dampedSingularValuesInv * svd.matrixU().adjoint();
 }
-#endif // LBR_DEMOS_FRI_ROS2_ADVANCED_CPP__DAMPED_LEAST_SQUARES_HPP_
+} // end of namespace lbr_fri_ros2
+#endif // LBR_FRI_ROS2__DAMPED_LEAST_SQUARES_HPP_
diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/package.xml
@@ -10,6 +10,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
+  <buildtool_depend>eigen3_cmake_module</buildtool_depend>
+
+  <build_depend>eigen</build_depend>
 
   <depend>control_toolbox</depend>
   <depend>fri_vendor</depend>
@@ -21,6 +24,9 @@
 
   <exec_depend>lbr_description</exec_depend>
 
+  <buildtool_export_depend>eigen3_cmake_module</buildtool_export_depend>
+  <build_export_depend>eigen</build_export_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>