Revise organization (#84)

* Moved samplers, edge/state evaluators into core subdirectory * Moved ladder graph solver into core directory; moved BGL solvers into separate directory * Updated build files * Updated unit test * Force build with specified c++ version
swri-robotics · Sep 13, 2021 · 0eeeaf2 · 0eeeaf2
1 parent 9c9d0e5
commit 0eeeaf2
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Showing 55 changed files with 107 additions and 181 deletions.
diff --git a/descartes_light/CMakeLists.txt b/descartes_light/CMakeLists.txt
@@ -12,10 +12,7 @@ initialize_code_coverage(ENABLE ${DESCARTES_ENABLE_CODE_COVERAGE})
 add_code_coverage_all_targets(ENABLE ${DESCARTES_ENABLE_CODE_COVERAGE})
 
 add_subdirectory(core)
-add_subdirectory(edge_evaluators)
-add_subdirectory(samplers)
-add_subdirectory(solvers)
-add_subdirectory(state_evaluators)
+add_subdirectory(bgl)
 
 if(DESCARTES_ENABLE_TESTING)
   enable_testing()

diff --git a/descartes_light/bgl/CMakeLists.txt b/descartes_light/bgl/CMakeLists.txt
@@ -0,0 +1,25 @@
+find_package(Boost REQUIRED COMPONENTS graph)
+
+add_library(${PROJECT_NAME}_bgl src/bgl_solver.cpp)
+target_link_libraries(${PROJECT_NAME}_bgl PUBLIC ${PROJECT_NAME} Boost::graph)
+target_cxx_version(${PROJECT_NAME}_bgl PUBLIC VERSION ${DESCARTES_CXX_VERSION})
+target_compile_options(${PROJECT_NAME}_bgl PUBLIC ${DESCARTES_COMPILE_OPTIONS})
+target_compile_definitions(${PROJECT_NAME}_bgl PUBLIC ${DESCARTES_COMPILE_DEFINITIONS})
+target_clang_tidy(
+  ${PROJECT_NAME}_bgl
+  ENABLE ${DESCARTES_ENABLE_CLANG_TIDY}
+  WARNINGS_AS_ERRORS ${DESCARTES_ENABLE_TESTING}
+  CHECKS ${DEFAULT_CLANG_TIDY_CHECKS})
+target_code_coverage(${PROJECT_NAME}_bgl ALL ENABLE ${DESCARTES_ENABLE_CODE_COVERAGE})
+target_include_directories(${PROJECT_NAME}_bgl PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                                                      "$<INSTALL_INTERFACE:include>")
+
+install(
+  TARGETS ${PROJECT_NAME}_bgl
+  EXPORT ${PROJECT_NAME}-targets
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
+
+# Install headers
+install(DIRECTORY include/ DESTINATION include/)
diff --git a/...cartes_light/solvers/bgl/bgl_dfs_solver.h → ...lude/descartes_light/bgl/bgl_dfs_solver.h b/...cartes_light/solvers/bgl/bgl_dfs_solver.h → ...lude/descartes_light/bgl/bgl_dfs_solver.h
@@ -18,8 +18,8 @@
 #ifndef DESCARTES_LIGHT_SOLVERS_BGL_BGL_DFS_SOLVER_H
 #define DESCARTES_LIGHT_SOLVERS_BGL_BGL_DFS_SOLVER_H
 
-#include <descartes_light/solvers/bgl/bgl_solver.h>
-#include <descartes_light/solvers/bgl/event_visitors.h>
+#include <descartes_light/bgl/bgl_solver.h>
+#include <descartes_light/bgl/event_visitors.h>
 
 namespace descartes_light
 {

diff --git a/...s_light/solvers/bgl/bgl_dijkstra_solver.h → ...descartes_light/bgl/bgl_dijkstra_solver.h b/...s_light/solvers/bgl/bgl_dijkstra_solver.h → ...descartes_light/bgl/bgl_dijkstra_solver.h
@@ -1,8 +1,8 @@
 #ifndef DESCARTES_LIGHT_SOLVERS_BGL_BGL_DIJKSTRA_SOLVER_H
 #define DESCARTES_LIGHT_SOLVERS_BGL_BGL_DIJKSTRA_SOLVER_H
 
-#include <descartes_light/solvers/bgl/bgl_solver.h>
-#include <descartes_light/solvers/bgl/event_visitors.h>
+#include <descartes_light/bgl/bgl_solver.h>
+#include <descartes_light/bgl/event_visitors.h>
 
 namespace descartes_light
 {

diff --git a/.../descartes_light/solvers/bgl/bgl_solver.h → .../include/descartes_light/bgl/bgl_solver.h b/.../descartes_light/solvers/bgl/bgl_solver.h → .../include/descartes_light/bgl/bgl_solver.h
@@ -23,8 +23,8 @@ DESCARTES_IGNORE_WARNINGS_PUSH
 #include <vector>
 DESCARTES_IGNORE_WARNINGS_POP
 
-#include <descartes_light/solvers/bgl/boost_graph_types.h>
 #include <descartes_light/core/solver.h>
+#include <descartes_light/bgl/boost_graph_types.h>
 
 namespace descartes_light
 {

diff --git a/...tes_light/solvers/bgl/boost_graph_types.h → ...e/descartes_light/bgl/boost_graph_types.h b/...tes_light/solvers/bgl/boost_graph_types.h → ...e/descartes_light/bgl/boost_graph_types.h
diff --git a/...cartes_light/solvers/bgl/event_visitors.h → ...lude/descartes_light/bgl/event_visitors.h b/...cartes_light/solvers/bgl/event_visitors.h → ...lude/descartes_light/bgl/event_visitors.h
@@ -1,7 +1,7 @@
 #ifndef DESCARTES_LIGHT_SOLVERS_BGL_EVENT_VISITORS
 #define DESCARTES_LIGHT_SOLVERS_BGL_EVENT_VISITORS
 
-#include <descartes_light/solvers/bgl/boost_graph_types.h>
+#include <descartes_light/bgl/boost_graph_types.h>
 
 #include <descartes_light/descartes_macros.h>
 DESCARTES_IGNORE_WARNINGS_PUSH

diff --git a/...light/solvers/bgl/impl/bgl_dfs_solver.hpp → ...scartes_light/bgl/impl/bgl_dfs_solver.hpp b/...light/solvers/bgl/impl/bgl_dfs_solver.hpp → ...scartes_light/bgl/impl/bgl_dfs_solver.hpp
@@ -18,8 +18,8 @@
 #ifndef DESCARTES_LIGHT_SOLVERS_BGL_IMPL_DFS_SOLVER_HPP
 #define DESCARTES_LIGHT_SOLVERS_BGL_IMPL_DFS_SOLVER_HPP
 
-#include <descartes_light/solvers/bgl/bgl_dfs_solver.h>
-#include <descartes_light/solvers/bgl/impl/event_visitors.hpp>
+#include <descartes_light/bgl/bgl_dfs_solver.h>
+#include <descartes_light/bgl/impl/event_visitors.hpp>
 
 #include <descartes_light/descartes_macros.h>
 DESCARTES_IGNORE_WARNINGS_PUSH

diff --git a/.../solvers/bgl/impl/bgl_dijkstra_solver.hpp → ...es_light/bgl/impl/bgl_dijkstra_solver.hpp b/.../solvers/bgl/impl/bgl_dijkstra_solver.hpp → ...es_light/bgl/impl/bgl_dijkstra_solver.hpp
@@ -1,8 +1,8 @@
 #ifndef DESCARTES_LIGHT_SOLVERS_BGL_IMPL_BGL_DIJKSTRA_SOLVER_HPP
 #define DESCARTES_LIGHT_SOLVERS_BGL_IMPL_BGL_DIJKSTRA_SOLVER_HPP
 
-#include <descartes_light/solvers/bgl/bgl_dijkstra_solver.h>
-#include <descartes_light/solvers/bgl/impl/event_visitors.hpp>
+#include <descartes_light/bgl/bgl_dijkstra_solver.h>
+#include <descartes_light/bgl/impl/event_visitors.hpp>
 
 #include <descartes_light/descartes_macros.h>
 DESCARTES_IGNORE_WARNINGS_PUSH

diff --git a/...tes_light/solvers/bgl/impl/bgl_solver.hpp → ...e/descartes_light/bgl/impl/bgl_solver.hpp b/...tes_light/solvers/bgl/impl/bgl_solver.hpp → ...e/descartes_light/bgl/impl/bgl_solver.hpp
@@ -24,8 +24,8 @@ DESCARTES_IGNORE_WARNINGS_PUSH
 #include <omp.h>
 DESCARTES_IGNORE_WARNINGS_POP
 
-#include <descartes_light/solvers/bgl/bgl_solver.h>
-#include <descartes_light/solvers/bgl/utils.h>
+#include <descartes_light/bgl/bgl_solver.h>
+#include <descartes_light/bgl/utils.h>
 #include <descartes_light/types.h>
 
 #define UNUSED(x) (void)(x)

diff --git a/...light/solvers/bgl/impl/event_visitors.hpp → ...scartes_light/bgl/impl/event_visitors.hpp b/...light/solvers/bgl/impl/event_visitors.hpp → ...scartes_light/bgl/impl/event_visitors.hpp
@@ -1,7 +1,7 @@
 #ifndef DESCARTES_LIGHT_SOLVERS_BGL_IMPL_EVENT_VISITORS_HPP
 #define DESCARTES_LIGHT_SOLVERS_BGL_IMPL_EVENT_VISITORS_HPP
 
-#include <descartes_light/solvers/bgl/event_visitors.h>
+#include <descartes_light/bgl/event_visitors.h>
 
 namespace descartes_light
 {

diff --git a/...escartes_light/solvers/bgl/impl/utils.hpp → ...nclude/descartes_light/bgl/impl/utils.hpp b/...escartes_light/solvers/bgl/impl/utils.hpp → ...nclude/descartes_light/bgl/impl/utils.hpp
@@ -5,7 +5,7 @@ DESCARTES_IGNORE_WARNINGS_PUSH
 #include <fstream>
 DESCARTES_IGNORE_WARNINGS_POP
 
-#include <descartes_light/solvers/bgl/utils.h>
+#include <descartes_light/bgl/utils.h>
 
 namespace descartes_light
 {

diff --git a/...clude/descartes_light/solvers/bgl/utils.h → ...t/bgl/include/descartes_light/bgl/utils.h b/...clude/descartes_light/solvers/bgl/utils.h → ...t/bgl/include/descartes_light/bgl/utils.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <descartes_light/solvers/bgl/boost_graph_types.h>
+#include <descartes_light/bgl/boost_graph_types.h>
 
 namespace descartes_light
 {

diff --git a/...rtes_light/solvers/src/bgl/bgl_solver.cpp → descartes_light/bgl/src/bgl_solver.cpp b/...rtes_light/solvers/src/bgl/bgl_solver.cpp → descartes_light/bgl/src/bgl_solver.cpp
@@ -15,10 +15,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-#include <descartes_light/solvers/bgl/impl/bgl_solver.hpp>
-#include <descartes_light/solvers/bgl/impl/bgl_dijkstra_solver.hpp>
-#include <descartes_light/solvers/bgl/impl/bgl_dfs_solver.hpp>
-#include <descartes_light/solvers/bgl/impl/utils.hpp>
+#include <descartes_light/bgl/impl/bgl_solver.hpp>
+#include <descartes_light/bgl/impl/bgl_dijkstra_solver.hpp>
+#include <descartes_light/bgl/impl/bgl_dfs_solver.hpp>
+#include <descartes_light/bgl/impl/utils.hpp>
 
 #include <descartes_light/descartes_macros.h>
 DESCARTES_IGNORE_WARNINGS_PUSH

diff --git a/descartes_light/cmake/descartes_light_macros.cmake b/descartes_light/cmake/descartes_light_macros.cmake
@@ -89,5 +89,6 @@ macro(descartes_variables)
     endif()
   endif()
 
+  set(CXX_STANDARD_REQUIRED ON)
   set(DESCARTES_CXX_VERSION 14)
 endmacro()
diff --git a/descartes_light/core/CMakeLists.txt b/descartes_light/core/CMakeLists.txt
@@ -1,36 +1,74 @@
 # Find dependency packages
 find_package(Eigen3 REQUIRED)
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
+find_package(OpenMP REQUIRED)
+find_package(console_bridge)
 
 # Create targets if necessary
+if(NOT TARGET OpenMP::OpenMP_CXX)
+  find_package(Threads REQUIRED)
+  add_library(OpenMP::OpenMP_CXX IMPORTED INTERFACE)
+  set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_COMPILE_OPTIONS ${OpenMP_CXX_FLAGS})
+  # Only works if the same flag is passed to the linker; use CMake 3.9+ otherwise (Intel, AppleClang)
+  set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_LINK_LIBRARIES ${OpenMP_CXX_FLAGS} Threads::Threads)
+endif()
+
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
+                                                                  ${console_bridge_INCLUDE_DIRS})
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES ${console_bridge_LIBRARIES})
+else()
+  get_target_property(CHECK_INCLUDE_DIRECTORIES console_bridge::console_bridge INTERFACE_INCLUDE_DIRECTORIES)
+  if(NOT ${CHECK_INCLUDE_DIRECTORIES})
+    set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
+                                                                    ${console_bridge_INCLUDE_DIRS})
+  endif()
+endif()
+
 if(NOT TARGET Eigen3::Eigen)
   find_package(Threads REQUIRED)
   add_library(Eigen3::Eigen IMPORTED INTERFACE)
   set_property(TARGET Eigen3::Eigen PROPERTY INTERFACE_COMPILE_DEFINITIONS ${EIGEN3_DEFINITIONS})
   set_property(TARGET Eigen3::Eigen PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${EIGEN3_INCLUDE_DIRS})
 endif()
 
-# Interface Library
-add_library(${PROJECT_NAME}_core INTERFACE)
-target_link_libraries(${PROJECT_NAME}_core INTERFACE Eigen3::Eigen)
-target_cxx_version(${PROJECT_NAME}_core INTERFACE VERSION ${DESCARTES_CXX_VERSION})
-target_compile_options(${PROJECT_NAME}_core INTERFACE ${DESCARTES_COMPILE_OPTIONS})
-target_compile_definitions(${PROJECT_NAME}_core INTERFACE ${DESCARTES_COMPILE_DEFINITIONS})
+add_library(
+  ${PROJECT_NAME}
+  # Edge Evaluators
+  src/edge_evaluators/timing_edge_evaluator.cpp
+  src/edge_evaluators/euclidean_distance_edge_evaluator.cpp
+  src/edge_evaluators/compound_edge_evaluator.cpp
+  src/edge_evaluators/normalized_edge_evaluator.cpp
+  # State Evaluators
+  src/state_evaluators/euclidean_distance_state_evaluator.cpp
+  src/state_evaluators/normalized_state_evaluator.cpp
+  # Samplers
+  src/samplers/fixed_joint_pose_sampler.cpp
+  # Solvers
+  src/solvers/ladder_graph/ladder_graph_solver.cpp
+  src/solvers/ladder_graph/ladder_graph.cpp
+  src/solvers/ladder_graph/ladder_graph_dag_search.cpp)
+target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen OpenMP::OpenMP_CXX console_bridge::console_bridge)
+target_cxx_version(${PROJECT_NAME} PUBLIC VERSION ${DESCARTES_CXX_VERSION})
+target_compile_options(${PROJECT_NAME} PUBLIC -std=c++${DESCARTES_CXX_VERSION})
+target_compile_options(${PROJECT_NAME} PUBLIC ${DESCARTES_COMPILE_OPTIONS})
+target_compile_definitions(${PROJECT_NAME} PUBLIC ${DESCARTES_COMPILE_DEFINITIONS})
 target_clang_tidy(
-  ${PROJECT_NAME}_core
+  ${PROJECT_NAME}
   ENABLE ${DESCARTES_ENABLE_CLANG_TIDY}
   WARNINGS_AS_ERRORS ${DESCARTES_ENABLE_TESTING}
   CHECKS ${DEFAULT_CLANG_TIDY_CHECKS})
 target_code_coverage(
-  ${PROJECT_NAME}_core
-  INTERFACE
+  ${PROJECT_NAME}
+  PUBLIC
   ALL
   ENABLE ${DESCARTES_ENABLE_TESTING})
-target_include_directories(${PROJECT_NAME}_core INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                                          "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                                                  "$<INSTALL_INTERFACE:include>")
 
 install(
-  TARGETS ${PROJECT_NAME}_core
+  TARGETS ${PROJECT_NAME}
   EXPORT ${PROJECT_NAME}-targets
   RUNTIME DESTINATION bin
   LIBRARY DESTINATION lib

diff --git a/...edge_evaluators/compound_edge_evaluator.h → ...edge_evaluators/compound_edge_evaluator.h b/...edge_evaluators/compound_edge_evaluator.h → ...edge_evaluators/compound_edge_evaluator.h
diff --git a/...ators/euclidean_distance_edge_evaluator.h → ...ators/euclidean_distance_edge_evaluator.h b/...ators/euclidean_distance_edge_evaluator.h → ...ators/euclidean_distance_edge_evaluator.h
diff --git a/...aluators/impl/compound_edge_evaluator.hpp → ...aluators/impl/compound_edge_evaluator.hpp b/...aluators/impl/compound_edge_evaluator.hpp → ...aluators/impl/compound_edge_evaluator.hpp
diff --git a/...mpl/euclidean_distance_edge_evaluator.hpp → ...mpl/euclidean_distance_edge_evaluator.hpp b/...mpl/euclidean_distance_edge_evaluator.hpp → ...mpl/euclidean_distance_edge_evaluator.hpp
diff --git a/...uators/impl/normalized_edge_evaluator.hpp → ...uators/impl/normalized_edge_evaluator.hpp b/...uators/impl/normalized_edge_evaluator.hpp → ...uators/impl/normalized_edge_evaluator.hpp
diff --git a/...evaluators/impl/timing_edge_evaluator.hpp → ...evaluators/impl/timing_edge_evaluator.hpp b/...evaluators/impl/timing_edge_evaluator.hpp → ...evaluators/impl/timing_edge_evaluator.hpp
diff --git a/...ge_evaluators/normalized_edge_evaluator.h → ...ge_evaluators/normalized_edge_evaluator.h b/...ge_evaluators/normalized_edge_evaluator.h → ...ge_evaluators/normalized_edge_evaluator.h
diff --git a/...t/edge_evaluators/timing_edge_evaluator.h → ...t/edge_evaluators/timing_edge_evaluator.h b/...t/edge_evaluators/timing_edge_evaluator.h → ...t/edge_evaluators/timing_edge_evaluator.h
diff --git a/...t/samplers/fixed_joint_waypoint_sampler.h → ...t/samplers/fixed_joint_waypoint_sampler.h b/...t/samplers/fixed_joint_waypoint_sampler.h → ...t/samplers/fixed_joint_waypoint_sampler.h
diff --git a/...ers/impl/fixed_joint_waypoint_sampler.hpp → ...ers/impl/fixed_joint_waypoint_sampler.hpp b/...ers/impl/fixed_joint_waypoint_sampler.hpp → ...ers/impl/fixed_joint_waypoint_sampler.hpp
diff --git a/...olvers/ladder_graph/impl/ladder_graph.hpp → ...olvers/ladder_graph/impl/ladder_graph.hpp b/...olvers/ladder_graph/impl/ladder_graph.hpp → ...olvers/ladder_graph/impl/ladder_graph.hpp
diff --git a/...er_graph/impl/ladder_graph_dag_search.hpp → ...er_graph/impl/ladder_graph_dag_search.hpp b/...er_graph/impl/ladder_graph_dag_search.hpp → ...er_graph/impl/ladder_graph_dag_search.hpp
diff --git a/...ladder_graph/impl/ladder_graph_solver.hpp → ...ladder_graph/impl/ladder_graph_solver.hpp b/...ladder_graph/impl/ladder_graph_solver.hpp → ...ladder_graph/impl/ladder_graph_solver.hpp
diff --git a/...light/solvers/ladder_graph/ladder_graph.h → ...light/solvers/ladder_graph/ladder_graph.h b/...light/solvers/ladder_graph/ladder_graph.h → ...light/solvers/ladder_graph/ladder_graph.h
diff --git a/...rs/ladder_graph/ladder_graph_dag_search.h → ...rs/ladder_graph/ladder_graph_dag_search.h b/...rs/ladder_graph/ladder_graph_dag_search.h → ...rs/ladder_graph/ladder_graph_dag_search.h
diff --git a/...olvers/ladder_graph/ladder_graph_solver.h → ...olvers/ladder_graph/ladder_graph_solver.h b/...olvers/ladder_graph/ladder_graph_solver.h → ...olvers/ladder_graph/ladder_graph_solver.h
diff --git a/...tors/euclidean_distance_state_evaluator.h → ...tors/euclidean_distance_state_evaluator.h b/...tors/euclidean_distance_state_evaluator.h → ...tors/euclidean_distance_state_evaluator.h
diff --git a/...pl/euclidean_distance_state_evaluator.hpp → ...pl/euclidean_distance_state_evaluator.hpp b/...pl/euclidean_distance_state_evaluator.hpp → ...pl/euclidean_distance_state_evaluator.hpp
diff --git a/...ators/impl/normalized_state_evaluator.hpp → ...ators/impl/normalized_state_evaluator.hpp b/...ators/impl/normalized_state_evaluator.hpp → ...ators/impl/normalized_state_evaluator.hpp
diff --git a/...e_evaluators/normalized_state_evaluator.h → ...e_evaluators/normalized_state_evaluator.h b/...e_evaluators/normalized_state_evaluator.h → ...e_evaluators/normalized_state_evaluator.h
diff --git a/...valuators/src/compound_edge_evaluator.cpp → ...ge_evaluators/compound_edge_evaluator.cpp b/...valuators/src/compound_edge_evaluator.cpp → ...ge_evaluators/compound_edge_evaluator.cpp
diff --git a/...src/euclidean_distance_edge_evaluator.cpp → ...ors/euclidean_distance_edge_evaluator.cpp b/...src/euclidean_distance_edge_evaluator.cpp → ...ors/euclidean_distance_edge_evaluator.cpp
diff --git a/...luators/src/normalized_edge_evaluator.cpp → ..._evaluators/normalized_edge_evaluator.cpp b/...luators/src/normalized_edge_evaluator.cpp → ..._evaluators/normalized_edge_evaluator.cpp
diff --git a/..._evaluators/src/timing_edge_evaluator.cpp → ...edge_evaluators/timing_edge_evaluator.cpp b/..._evaluators/src/timing_edge_evaluator.cpp → ...edge_evaluators/timing_edge_evaluator.cpp
diff --git a/...samplers/src/fixed_joint_pose_sampler.cpp → ...src/samplers/fixed_joint_pose_sampler.cpp b/...samplers/src/fixed_joint_pose_sampler.cpp → ...src/samplers/fixed_joint_pose_sampler.cpp
diff --git a/...solvers/src/ladder_graph/ladder_graph.cpp → ...src/solvers/ladder_graph/ladder_graph.cpp b/...solvers/src/ladder_graph/ladder_graph.cpp → ...src/solvers/ladder_graph/ladder_graph.cpp
diff --git a/.../ladder_graph/ladder_graph_dag_search.cpp → .../ladder_graph/ladder_graph_dag_search.cpp b/.../ladder_graph/ladder_graph_dag_search.cpp → .../ladder_graph/ladder_graph_dag_search.cpp
diff --git a/.../src/ladder_graph/ladder_graph_solver.cpp → ...vers/ladder_graph/ladder_graph_solver.cpp b/.../src/ladder_graph/ladder_graph_solver.cpp → ...vers/ladder_graph/ladder_graph_solver.cpp
diff --git a/...rc/euclidean_distance_state_evaluator.cpp → ...rs/euclidean_distance_state_evaluator.cpp b/...rc/euclidean_distance_state_evaluator.cpp → ...rs/euclidean_distance_state_evaluator.cpp
diff --git a/...uators/src/normalized_state_evaluator.cpp → ...evaluators/normalized_state_evaluator.cpp b/...uators/src/normalized_state_evaluator.cpp → ...evaluators/normalized_state_evaluator.cpp
diff --git a/descartes_light/edge_evaluators/CMakeLists.txt b/descartes_light/edge_evaluators/CMakeLists.txt
diff --git a/descartes_light/samplers/CMakeLists.txt b/descartes_light/samplers/CMakeLists.txt
diff --git a/descartes_light/solvers/CMakeLists.txt b/descartes_light/solvers/CMakeLists.txt
diff --git a/descartes_light/state_evaluators/CMakeLists.txt b/descartes_light/state_evaluators/CMakeLists.txt