rename parameters and fix cmake format

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
moveit · Jan 18, 2024 · ea7ce4c · ea7ce4c
1 parent 6484cd9
commit ea7ce4c
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Showing 4 changed files with 18 additions and 18 deletions.
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -71,9 +71,9 @@ install(
   TARGETS
     collision_detector_bullet_plugin
     moveit_acceleration_filter
-    moveit_acceleration_parameters
+    moveit_acceleration_filter_parameters
     moveit_butterworth_filter
-    moveit_butterworth_parameters
+    moveit_butterworth_filter_parameters
     moveit_collision_detection
     moveit_collision_detection_bullet
     moveit_collision_detection_fcl

diff --git a/moveit_core/online_signal_smoothing/CMakeLists.txt b/moveit_core/online_signal_smoothing/CMakeLists.txt
@@ -33,10 +33,10 @@ set_target_properties(moveit_butterworth_filter PROPERTIES VERSION
   "${${PROJECT_NAME}_VERSION}"
 )
 
-generate_parameter_library(moveit_butterworth_parameters src/butterworth_parameters.yaml)
+generate_parameter_library(moveit_butterworth_filter_parameters src/butterworth_parameters.yaml)
 
 target_link_libraries(moveit_butterworth_filter
-  moveit_butterworth_parameters
+  moveit_butterworth_filter_parameters
   moveit_robot_model
   moveit_smoothing_base
 )
@@ -46,26 +46,26 @@ ament_target_dependencies(moveit_butterworth_filter
 )
 
 add_library(moveit_acceleration_filter SHARED
-            src/acceleration_filter.cpp
-    )
+  src/acceleration_filter.cpp
+)
 generate_export_header(moveit_acceleration_filter)
 target_include_directories(moveit_acceleration_filter PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
 )
 set_target_properties(moveit_acceleration_filter PROPERTIES VERSION
-        "${${PROJECT_NAME}_VERSION}"
+  "${${PROJECT_NAME}_VERSION}"
 )
 
-generate_parameter_library(moveit_acceleration_parameters src/acceleration_parameters.yaml)
+generate_parameter_library(moveit_acceleration_filter_parameters src/acceleration_parameters.yaml)
 
 target_link_libraries(moveit_acceleration_filter
-    moveit_acceleration_parameters
-    moveit_robot_state
-    moveit_smoothing_base
-    osqp::osqp
+  moveit_acceleration_filter_parameters
+  moveit_robot_state
+  moveit_smoothing_base
+  osqp::osqp
 )
 ament_target_dependencies(moveit_acceleration_filter
-        srdfdom  # include dependency from moveit_robot_model
+  srdfdom  # include dependency from moveit_robot_model
 )
 
 
@@ -77,7 +77,7 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_acceleration_filter_export.h DE
 
 # Testing
 
-if(BUILD_TESTING)
+if (BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
 
@@ -88,4 +88,4 @@ if(BUILD_TESTING)
   # Acceleration filter unit test
   ament_add_gtest(test_acceleration_filter test/test_acceleration_filter.cpp)
   target_link_libraries(test_acceleration_filter moveit_acceleration_filter moveit_test_utils)
-endif()
+endif ()
diff --git a/moveit_core/online_signal_smoothing/README.md b/moveit_core/online_signal_smoothing/README.md
@@ -8,4 +8,4 @@ In the figures, the red arrows show the displacement that will occur given the c
 
 - Figure A: The desired position is within the acceleration limits. The next commanded point will be exactly the desired point.
 - Figure B: The line between the current position and the desired position intersects the acceleration limits, but the reference position is not within the bounds. The next commanded point will be the point on the displacement line that is closest to the reference.
-- Figure C: Neither the displacement line intersects the acceleration limits nor does the reference point lie within the limits. In this case, the next commanded point will be the one that minimizes the robot's velocity while maintaining its direction.
+- Figure C: Neither the displacement line intersects the acceleration limits nor does the reference point lie within the limits. In this case, the next commanded point will be the one that minimizes the robot's velocity while maintaining its direction.
diff --git a/...core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h b/...core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h
@@ -78,7 +78,7 @@ c --------x--- v   |
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/logger.hpp>
-#include <moveit_acceleration_parameters.hpp>
+#include <moveit_acceleration_filter_parameters.hpp>
 
 #include <osqp.h>
 #include <types.h>