From 6e6108b77806d1e31354f8e15c06c06f08703f64 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Fri, 10 Jan 2025 17:18:21 +0100 Subject: [PATCH] Remove more circular dependencies with ActuatorEffectiveness --- src/lib/CMakeLists.txt | 2 ++ .../actuator_effectiveness}/ActuatorEffectiveness.cpp | 0 .../actuator_effectiveness}/ActuatorEffectiveness.hpp | 0 .../ActuatorEffectivenessControlSurfaces.cpp | 0 .../ActuatorEffectivenessControlSurfaces.hpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessCustom.cpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessCustom.hpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessFixedWing.cpp | 2 +- .../actuator_effectiveness}/ActuatorEffectivenessFixedWing.hpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessHelicopter.cpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessHelicopter.hpp | 0 .../ActuatorEffectivenessHelicopterCoaxial.cpp | 0 .../ActuatorEffectivenessHelicopterCoaxial.hpp | 0 .../ActuatorEffectivenessHelicopterTest.cpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessMCTilt.cpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessMCTilt.hpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessMultirotor.cpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessMultirotor.hpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessRotors.cpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessRotors.hpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessRotorsTest.cpp | 0 .../ActuatorEffectivenessRoverAckermann.cpp | 1 - .../ActuatorEffectivenessRoverAckermann.hpp | 0 .../ActuatorEffectivenessStandardVTOL.cpp | 1 - .../ActuatorEffectivenessStandardVTOL.hpp | 0 .../ActuatorEffectivenessTailsitterVTOL.cpp | 0 .../ActuatorEffectivenessTailsitterVTOL.hpp | 0 .../ActuatorEffectivenessTiltrotorVTOL.cpp | 0 .../ActuatorEffectivenessTiltrotorVTOL.hpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessTilts.cpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessTilts.hpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessUUV.cpp | 0 .../actuator_effectiveness}/ActuatorEffectivenessUUV.hpp | 0 .../actuator_effectiveness}/CMakeLists.txt | 0 .../ControlAllocation => lib/control_allocation}/CMakeLists.txt | 0 .../control_allocation}/ControlAllocation.cpp | 0 .../control_allocation}/ControlAllocation.hpp | 2 +- .../control_allocation}/ControlAllocationPseudoInverse.cpp | 0 .../control_allocation}/ControlAllocationPseudoInverse.hpp | 0 .../control_allocation}/ControlAllocationPseudoInverseTest.cpp | 0 .../ControlAllocationSequentialDesaturation.cpp | 0 .../ControlAllocationSequentialDesaturation.hpp | 0 .../ControlAllocationSequentialDesaturationTest.cpp | 0 src/modules/control_allocator/CMakeLists.txt | 2 -- 44 files changed, 4 insertions(+), 6 deletions(-) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectiveness.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectiveness.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessControlSurfaces.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessControlSurfaces.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessCustom.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessCustom.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessFixedWing.cpp (98%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessFixedWing.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessHelicopter.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessHelicopter.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessHelicopterCoaxial.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessHelicopterCoaxial.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessHelicopterTest.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessMCTilt.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessMCTilt.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessMultirotor.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessMultirotor.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessRotors.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessRotors.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessRotorsTest.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessRoverAckermann.cpp (98%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessRoverAckermann.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessStandardVTOL.cpp (98%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessStandardVTOL.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessTailsitterVTOL.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessTailsitterVTOL.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessTiltrotorVTOL.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessTiltrotorVTOL.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessTilts.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessTilts.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessUUV.cpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/ActuatorEffectivenessUUV.hpp (100%) rename src/{modules/control_allocator/ActuatorEffectiveness => lib/actuator_effectiveness}/CMakeLists.txt (100%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/CMakeLists.txt (100%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/ControlAllocation.cpp (100%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/ControlAllocation.hpp (99%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/ControlAllocationPseudoInverse.cpp (100%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/ControlAllocationPseudoInverse.hpp (100%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/ControlAllocationPseudoInverseTest.cpp (100%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/ControlAllocationSequentialDesaturation.cpp (100%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/ControlAllocationSequentialDesaturation.hpp (100%) rename src/{modules/control_allocator/ControlAllocation => lib/control_allocation}/ControlAllocationSequentialDesaturationTest.cpp (100%) diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt index 69ab23aacc0e..cdd347da75ba 100644 --- a/src/lib/CMakeLists.txt +++ b/src/lib/CMakeLists.txt @@ -31,6 +31,7 @@ # ############################################################################ +add_subdirectory(actuator_effectiveness EXCLUDE_FROM_ALL) add_subdirectory(adsb EXCLUDE_FROM_ALL) add_subdirectory(airspeed EXCLUDE_FROM_ALL) add_subdirectory(atmosphere EXCLUDE_FROM_ALL) @@ -43,6 +44,7 @@ add_subdirectory(cdrstream EXCLUDE_FROM_ALL) add_subdirectory(circuit_breaker EXCLUDE_FROM_ALL) add_subdirectory(collision_prevention EXCLUDE_FROM_ALL) add_subdirectory(component_information EXCLUDE_FROM_ALL) +add_subdirectory(control_allocation EXCLUDE_FROM_ALL) add_subdirectory(controllib EXCLUDE_FROM_ALL) add_subdirectory(conversion EXCLUDE_FROM_ALL) add_subdirectory(crc EXCLUDE_FROM_ALL) diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp b/src/lib/actuator_effectiveness/ActuatorEffectiveness.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectiveness.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp b/src/lib/actuator_effectiveness/ActuatorEffectiveness.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectiveness.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp similarity index 98% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp index c7c2bba7d709..8fb98a20c46d 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp +++ b/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp @@ -32,7 +32,7 @@ ****************************************************************************/ #include "ActuatorEffectivenessFixedWing.hpp" -#include +#include using namespace matrix; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterTest.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterTest.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotorsTest.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRotorsTest.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotorsTest.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRotorsTest.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp similarity index 98% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp index 94f5db16f36b..e9eda4c5387f 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp +++ b/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp @@ -32,7 +32,6 @@ ****************************************************************************/ #include "ActuatorEffectivenessRoverAckermann.hpp" -#include using namespace matrix; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp similarity index 98% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp index 79853c7518c5..f15624dd6749 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp +++ b/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp @@ -32,7 +32,6 @@ ****************************************************************************/ #include "ActuatorEffectivenessStandardVTOL.hpp" -#include using namespace matrix; diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.cpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.cpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.cpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp rename to src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp diff --git a/src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt b/src/lib/actuator_effectiveness/CMakeLists.txt similarity index 100% rename from src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt rename to src/lib/actuator_effectiveness/CMakeLists.txt diff --git a/src/modules/control_allocator/ControlAllocation/CMakeLists.txt b/src/lib/control_allocation/CMakeLists.txt similarity index 100% rename from src/modules/control_allocator/ControlAllocation/CMakeLists.txt rename to src/lib/control_allocation/CMakeLists.txt diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp b/src/lib/control_allocation/ControlAllocation.cpp similarity index 100% rename from src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp rename to src/lib/control_allocation/ControlAllocation.cpp diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp b/src/lib/control_allocation/ControlAllocation.hpp similarity index 99% rename from src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp rename to src/lib/control_allocation/ControlAllocation.hpp index c60784a03c2c..a7d7d41ed36d 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp +++ b/src/lib/control_allocation/ControlAllocation.hpp @@ -71,7 +71,7 @@ #include -#include "ActuatorEffectiveness/ActuatorEffectiveness.hpp" +#include "actuator_effectiveness/ActuatorEffectiveness.hpp" class ControlAllocation { diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp b/src/lib/control_allocation/ControlAllocationPseudoInverse.cpp similarity index 100% rename from src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp rename to src/lib/control_allocation/ControlAllocationPseudoInverse.cpp diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.hpp b/src/lib/control_allocation/ControlAllocationPseudoInverse.hpp similarity index 100% rename from src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.hpp rename to src/lib/control_allocation/ControlAllocationPseudoInverse.hpp diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverseTest.cpp b/src/lib/control_allocation/ControlAllocationPseudoInverseTest.cpp similarity index 100% rename from src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverseTest.cpp rename to src/lib/control_allocation/ControlAllocationPseudoInverseTest.cpp diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp b/src/lib/control_allocation/ControlAllocationSequentialDesaturation.cpp similarity index 100% rename from src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp rename to src/lib/control_allocation/ControlAllocationSequentialDesaturation.cpp diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp b/src/lib/control_allocation/ControlAllocationSequentialDesaturation.hpp similarity index 100% rename from src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp rename to src/lib/control_allocation/ControlAllocationSequentialDesaturation.hpp diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp b/src/lib/control_allocation/ControlAllocationSequentialDesaturationTest.cpp similarity index 100% rename from src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp rename to src/lib/control_allocation/ControlAllocationSequentialDesaturationTest.cpp diff --git a/src/modules/control_allocator/CMakeLists.txt b/src/modules/control_allocator/CMakeLists.txt index 65872dc432ee..fc23e1336480 100644 --- a/src/modules/control_allocator/CMakeLists.txt +++ b/src/modules/control_allocator/CMakeLists.txt @@ -32,8 +32,6 @@ ############################################################################ include_directories(${CMAKE_CURRENT_SOURCE_DIR}) -add_subdirectory(ActuatorEffectiveness) -add_subdirectory(ControlAllocation) px4_add_module( MODULE modules__control_allocator