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[Robot] App: remove unused includes

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- also some sorting
This commit is contained in:
Uwe
2022-12-07 03:03:22 +01:00
parent 1844f2e084
commit c9f42ebcd7
28 changed files with 129 additions and 254 deletions
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19
src/Mod/Robot/App/AppRobot.cpp
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@@ -25,22 +25,19 @@
#include <Base/Console.h>
#include <Base/Interpreter.h>
#include <CXX/Extensions.hxx>
#include <CXX/Objects.hxx>
#include "Edge2TracObject.h"
#include "PropertyTrajectory.h"
#include "Robot6AxisPy.h"
#include "Robot6Axis.h"
#include "Simulation.h"
#include "TrajectoryPy.h"
#include "Trajectory.h"
#include "PropertyTrajectory.h"
#include "WaypointPy.h"
#include "Waypoint.h"
#include "RobotObject.h"
#include "TrajectoryObject.h"
#include "Edge2TracObject.h"
#include "Simulation.h"
#include "Trajectory.h"
#include "TrajectoryCompound.h"
#include "TrajectoryDressUpObject.h"
#include "TrajectoryObject.h"
#include "TrajectoryPy.h"
#include "WaypointPy.h"
#include "Waypoint.h"
namespace Robot {

21
src/Mod/Robot/App/Edge2TracObject.cpp
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@@ -20,27 +20,22 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include <BRepAdaptor_Curve.hxx>
# include <CPnts_AbscissaPoint.hxx>
# include <TopoDS.hxx>
# include <TopoDS_Edge.hxx>
#endif
#include "Edge2TracObject.h"
//#include <App/DocumentObjectPy.h>
//#include <Base/Placement.h>
#include <Base/Sequencer.h>
#include <Mod/Part/App/edgecluster.h>
#include <Mod/Part/App/PartFeature.h>
#include <TopoDS.hxx>
#include <TopoDS_Edge.hxx>
#include <TopoDS_Vertex.hxx>
#include <BRep_Tool.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <CPnts_AbscissaPoint.hxx>
#include <TopExp.hxx>
#include "Waypoint.h"
#include "Edge2TracObject.h"
#include "Trajectory.h"
#include "Waypoint.h"
using namespace Robot;
using namespace App;

6
src/Mod/Robot/App/Edge2TracObject.h
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@@ -20,17 +20,13 @@
* *
***************************************************************************/
#ifndef ROBOT_Edge2TracObject_H
#define ROBOT_Edge2TracObject_H
#include <App/GeoFeature.h>
#include <App/PropertyFile.h>
#include <App/PropertyGeo.h>
#include "Trajectory.h"
#include "TrajectoryObject.h"
#include "PropertyTrajectory.h"
namespace Robot
{

31
src/Mod/Robot/App/PreCompiled.h
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@@ -39,16 +39,33 @@
#ifdef _PreComp_
// standard
#include <iostream>
#include <sstream>
#include <cstdio>
#include <cassert>
#include <string>
#include <iostream>
#include <map>
#include <sstream>
#include <string>
#include <vector>
#include <set>
#include <bitset>
// kdl_cp
#include "kdl_cp/chain.hpp"
#include "kdl_cp/chainiksolverpos_nr.hpp"
#include "kdl_cp/chainiksolvervel_pinv.hpp"
#include "kdl_cp/chainiksolverpos_nr_jl.hpp"
#include "kdl_cp/chainfksolverpos_recursive.hpp"
#include "kdl_cp/frames_io.hpp"
#include "kdl_cp/path_line.hpp"
#include "kdl_cp/path_roundedcomposite.hpp"
#include "kdl_cp/rotational_interpolation_sa.hpp"
#include "kdl_cp/trajectory_composite.hpp"
#include "kdl_cp/trajectory_segment.hpp"
#include "kdl_cp/utilities/error.h"
#include "kdl_cp/velocityprofile_trap.hpp"
// OCC
#include <BRepAdaptor_Curve.hxx>
#include <CPnts_AbscissaPoint.hxx>
#include <TopoDS.hxx>
#include <TopoDS_Edge.hxx>
#endif // _PreComp_
#endif

10
src/Mod/Robot/App/PropertyTrajectory.cpp
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@@ -20,24 +20,18 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include <sstream>
#endif
#include <Base/Console.h>
#include <Base/Writer.h>
#include <Base/Reader.h>
#include <Base/Exception.h>
#include <Base/FileInfo.h>
#include <Base/Stream.h>
#include <Base/Writer.h>
#include "PropertyTrajectory.h"
#include "TrajectoryPy.h"
using namespace Robot;
TYPESYSTEM_SOURCE(Robot::PropertyTrajectory , App::Property)

6
src/Mod/Robot/App/PropertyTrajectory.h
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@@ -20,18 +20,18 @@
* *
***************************************************************************/
#ifndef PROPERTYTRAJECTORY_H
#define PROPERTYTRAJECTORY_H
#include "Trajectory.h"
#include <App/Property.h>
#include <Base/BoundBox.h>
#include "Trajectory.h"
namespace Robot
{
/** The part shape property class.
* @author Werner Mayer
*/

18
src/Mod/Robot/App/Robot6Axis.cpp
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@@ -20,30 +20,22 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include "kdl_cp/chainfksolverpos_recursive.hpp"
# include "kdl_cp/chainiksolvervel_pinv.hpp"
# include "kdl_cp/chainiksolverpos_nr_jl.hpp"
#endif
#include <Base/FileInfo.h>
#include <Base/Writer.h>
#include <Base/Reader.h>
#include <Base/Stream.h>
#include "kdl_cp/chain.hpp"
#include "kdl_cp/chainfksolver.hpp"
#include "kdl_cp/chainfksolverpos_recursive.hpp"
#include "kdl_cp/frames_io.hpp"
#include "kdl_cp/chainiksolver.hpp"
#include "kdl_cp/chainiksolvervel_pinv.hpp"
#include "kdl_cp/chainjnttojacsolver.hpp"
#include "kdl_cp/chainiksolverpos_nr.hpp"
#include "kdl_cp/chainiksolverpos_nr_jl.hpp"
#include <Base/Writer.h>
#include "Robot6Axis.h"
#include "RobotAlgos.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846 /* pi */
#endif

7
src/Mod/Robot/App/Robot6Axis.h
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@@ -20,17 +20,16 @@
* *
***************************************************************************/
#ifndef ROBOT_ROBOT6AXLE_H
#define ROBOT_ROBOT6AXLE_H
#include "kdl_cp/chain.hpp"
#include "kdl_cp/jntarray.hpp"
#include <Base/Persistence.h>
#include <Base/Placement.h>
#include "kdl_cp/chain.hpp"
#include "kdl_cp/jntarray.hpp"
#include <Mod/Robot/RobotGlobal.h>
namespace Robot
{

10
src/Mod/Robot/App/Robot6AxisPyImp.cpp
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@@ -20,19 +20,19 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include <sstream>
#endif
#include "Mod/Robot/App/Robot6Axis.h"
#include <Base/PlacementPy.h>
#include <Base/MatrixPy.h>
#include <Base/Exception.h>
#include <sstream>
#include <Base/PlacementPy.h>
// inclusion of the generated files (generated out of Robot6AxisPy.xml)
#include "Robot6AxisPy.h"
#include "Robot6AxisPy.cpp"
using namespace Robot;
// returns a string which represents the object e.g. when printed in python

77
src/Mod/Robot/App/RobotAlgos.cpp
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@@ -20,31 +20,17 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include "kdl_cp/chainiksolverpos_nr.hpp"
# include "kdl_cp/chainiksolvervel_pinv.hpp"
# include "kdl_cp/chainfksolverpos_recursive.hpp"
# include "kdl_cp/frames_io.hpp"
#endif
#include "kdl_cp/chain.hpp"
#include "kdl_cp/chainfksolver.hpp"
#include "kdl_cp/chainfksolverpos_recursive.hpp"
#include "kdl_cp/frames_io.hpp"
#include "kdl_cp/chainiksolver.hpp"
#include "kdl_cp/chainiksolvervel_pinv.hpp"
#include "kdl_cp/chainjnttojacsolver.hpp"
#include "kdl_cp/chainiksolverpos_nr.hpp"
#include <cstdio>
#include <iostream>
#include <Base/Console.h>
#include <Base/VectorPy.h>
#include "RobotAlgos.h"
using namespace Robot;
using namespace std;
using namespace KDL;
@@ -62,8 +48,6 @@ using namespace KDL;
// FeatureView
//===========================================================================
RobotAlgos::RobotAlgos()
{
@@ -75,13 +59,13 @@ RobotAlgos::~RobotAlgos()
void RobotAlgos::Test()
{
//Definition of a kinematic chain & add segments to the chain
// Definition of a kinematic chain & add segments to the chain
KDL::Chain chain;
chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020))));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480))));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645))));
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 1.020))));
chain.addSegment(Segment(Joint(Joint::RotX), Frame(Vector(0.0, 0.0, 0.480))));
chain.addSegment(Segment(Joint(Joint::RotX), Frame(Vector(0.0, 0.0, 0.645))));
chain.addSegment(Segment(Joint(Joint::RotZ)));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120))));
chain.addSegment(Segment(Joint(Joint::RotX), Frame(Vector(0.0, 0.0, 0.120))));
chain.addSegment(Segment(Joint(Joint::RotZ)));
// Create solver based on kinematic chain
@@ -92,12 +76,12 @@ void RobotAlgos::Test()
KDL::JntArray jointpositions = JntArray(nj);
// Assign some values to the joint positions
for(unsigned int i=0;i<nj;i++){
for (unsigned int i = 0; i < nj; i++) {
float myinput;
printf ("Enter the position of joint %i: ",i);
int result = scanf ("%e",&myinput);
(void)result;
jointpositions(i)=(double)myinput;
printf("Enter the position of joint %i: ", i);
int result = scanf("%e", &myinput);
(void)result;
jointpositions(i) = (double)myinput;
}
// Create the frame that will contain the results
@@ -106,31 +90,30 @@ void RobotAlgos::Test()
// Calculate forward position kinematics
int kinematics_status;
kinematics_status = fksolver.JntToCart(jointpositions,cartpos);
if(kinematics_status>=0){
std::cout << cartpos <<std::endl;
printf("%s \n","Success, thanks KDL!");
}else{
printf("%s \n","Error: could not calculate forward kinematics :(");
if (kinematics_status >= 0) {
std::cout << cartpos << std::endl;
printf("%s \n", "Success, thanks KDL!");
}
else {
printf("%s \n", "Error: could not calculate forward kinematics :(");
}
//Creation of the solvers:
ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver
ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver
ChainIkSolverPos_NR iksolver1(chain,fksolver1,iksolver1v,100,1e-6);//Maximum 100 iterations, stop at accuracy 1e-6
// Creation of the solvers:
ChainFkSolverPos_recursive fksolver1(chain);// Forward position solver
ChainIkSolverVel_pinv iksolver1v(chain); // Inverse velocity solver
ChainIkSolverPos_NR iksolver1(chain, fksolver1, iksolver1v,
100, 1e-6);// Maximum 100 iterations, stop at accuracy 1e-6
//Creation of jntarrays:
// Creation of jntarrays:
JntArray result(chain.getNrOfJoints());
JntArray q_init(chain.getNrOfJoints());
//Set destination frame
// Set destination frame
Frame F_dest=cartpos;
iksolver1.CartToJnt(q_init,F_dest,result);
for(unsigned int i=0;i<nj;i++){
printf ("Axle %i: %f \n",i,result(i));
}
for (unsigned int i = 0; i < nj; i++)
printf("Axle %i: %f \n", i, result(i));
}

10
src/Mod/Robot/App/RobotAlgos.h
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@@ -20,22 +20,16 @@
* *
***************************************************************************/
#ifndef _RobotAlgos_h_
#define _RobotAlgos_h_
#include <Base/Vector3D.h>
#include <string>
#include "kdl_cp/frames_io.hpp"
#include <Base/Placement.h>
#include <Base/Vector3D.h>
namespace Robot
{
/** Algo class for projecting shapes and creating SVG output of it
*/
class RobotExport RobotAlgos

11
src/Mod/Robot/App/RobotObject.cpp
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@@ -20,18 +20,15 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
#endif
#include "RobotObject.h"
#include <App/DocumentObjectPy.h>
#include <Base/Placement.h>
#include <Base/Writer.h>
#include <Base/Reader.h>
#include <Base/Writer.h>
#include "RobotObject.h"
using namespace Robot;
using namespace App;

4
src/Mod/Robot/App/RobotObject.h
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@@ -20,17 +20,15 @@
* *
***************************************************************************/
#ifndef ROBOT_ROBOTOBJECT_H
#define ROBOT_ROBOTOBJECT_H
#include <App/GeoFeature.h>
#include <App/PropertyFile.h>
#include <App/PropertyGeo.h>
#include <App/PropertyLinks.h>
#include "Robot6Axis.h"
namespace Robot
{

4
src/Mod/Robot/App/RobotObjectPyImp.cpp
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@@ -20,15 +20,13 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#include "Mod/Robot/App/RobotObject.h"
// inclusion of the generated files (generated out of RobotObjectPy.xml)
#include "RobotObjectPy.h"
#include "RobotObjectPy.cpp"
using namespace Robot;
// returns a string which represents the object e.g. when printed in python

19
src/Mod/Robot/App/Simulation.cpp
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@@ -20,36 +20,19 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
#endif
#include "kdl_cp/chain.hpp"
#include "kdl_cp/frames_io.hpp"
#include <cstdio>
#include <iostream>
#include <Base/Console.h>
#include "Simulation.h"
using namespace Robot;
using namespace std;
using namespace KDL;
//===========================================================================
// Simulation class
//===========================================================================
Simulation::Simulation(const Robot::Trajectory &Trac,Robot::Robot6Axis &Rob)
:Pos(0.0),Trac(Trac),Rob(Rob)
{

6
src/Mod/Robot/App/Simulation.h
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@@ -19,17 +19,15 @@
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#ifndef _Simulation_h_
#define _Simulation_h_
#include <Base/Vector3D.h>
#include <Base/Placement.h>
#include <string>
#include "Trajectory.h"
#include "Robot6Axis.h"
#include "Trajectory.h"
namespace Robot
{

24
src/Mod/Robot/App/Trajectory.cpp
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@@ -20,30 +20,28 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include <memory>
# include "kdl_cp/path_line.hpp"
# include "kdl_cp/path_roundedcomposite.hpp"
# include "kdl_cp/rotational_interpolation_sa.hpp"
# include "kdl_cp/trajectory_composite.hpp"
# include "kdl_cp/trajectory_segment.hpp"
# include "kdl_cp/utilities/error.h"
# include "kdl_cp/velocityprofile_trap.hpp"
#endif
#include <Base/Writer.h>
#include <Base/Reader.h>
#include <Base/Exception.h>
#include "kdl_cp/chain.hpp"
#include "kdl_cp/path_line.hpp"
#include "kdl_cp/path_roundedcomposite.hpp"
#include "kdl_cp/trajectory_composite.hpp"
#include "kdl_cp/rotational_interpolation_sa.hpp"
#include "kdl_cp/velocityprofile_trap.hpp"
#include "kdl_cp/trajectory_segment.hpp"
#include "kdl_cp/path_roundedcomposite.hpp"
#include "kdl_cp/utilities/error.h"
#include <Base/Reader.h>
#include <Base/Writer.h>
#include "Trajectory.h"
#include "RobotAlgos.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#define M_PI 3.14159265358979323846 /* pi */

8
src/Mod/Robot/App/Trajectory.h
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@@ -20,18 +20,16 @@
* *
***************************************************************************/
#ifndef ROBOT_Trajectory_H
#define ROBOT_Trajectory_H
#include "kdl_cp/trajectory.hpp"
#include "Waypoint.h"
#include <vector>
#include <Base/Persistence.h>
#include <Base/Placement.h>
#include <vector>
#include "Waypoint.h"
namespace KDL {class Trajectory_Composite;}

17
src/Mod/Robot/App/TrajectoryCompound.cpp
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@@ -20,26 +20,11 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
#endif
#include "TrajectoryCompound.h"
//#include <App/DocumentObjectPy.h>
//#include <Base/Placement.h>
#include <Mod/Part/App/edgecluster.h>
#include <Mod/Part/App/PartFeature.h>
#include <TopoDS.hxx>
#include <TopoDS_Edge.hxx>
#include <TopoDS_Vertex.hxx>
#include <BRep_Tool.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <CPnts_AbscissaPoint.hxx>
#include <TopExp.hxx>
#include "Waypoint.h"
#include "Trajectory.h"
using namespace Robot;
using namespace App;

8
src/Mod/Robot/App/TrajectoryCompound.h
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@@ -20,17 +20,13 @@
* *
***************************************************************************/
#ifndef ROBOT_TrajectoryCompound_H
#define ROBOT_TrajectoryCompound_H
#include <App/GeoFeature.h>
#include <App/PropertyFile.h>
#include <App/PropertyGeo.h>
#include <App/PropertyLinks.h>
#include "Trajectory.h"
#include "TrajectoryObject.h"
#include "PropertyTrajectory.h"
namespace Robot
{

17
src/Mod/Robot/App/TrajectoryDressUpObject.cpp
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@@ -20,26 +20,11 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
#endif
#include "TrajectoryDressUpObject.h"
//#include <App/DocumentObjectPy.h>
//#include <Base/Placement.h>
#include <Mod/Part/App/edgecluster.h>
#include <Mod/Part/App/PartFeature.h>
#include <TopoDS.hxx>
#include <TopoDS_Edge.hxx>
#include <TopoDS_Vertex.hxx>
#include <BRep_Tool.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <CPnts_AbscissaPoint.hxx>
#include <TopExp.hxx>
#include "Waypoint.h"
#include "Trajectory.h"
using namespace Robot;
using namespace App;

6
src/Mod/Robot/App/TrajectoryDressUpObject.h
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@@ -20,18 +20,14 @@
* *
***************************************************************************/
#ifndef ROBOT_TrajectoryDressUpObject_H
#define ROBOT_TrajectoryDressUpObject_H
#include <App/GeoFeature.h>
#include <App/PropertyFile.h>
#include <App/PropertyGeo.h>
#include <App/PropertyUnits.h>
#include "Trajectory.h"
#include "TrajectoryObject.h"
#include "PropertyTrajectory.h"
namespace Robot
{

8
src/Mod/Robot/App/TrajectoryObject.cpp
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@@ -20,16 +20,14 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
#endif
#include "TrajectoryObject.h"
#include <App/DocumentObjectPy.h>
#include <Base/Placement.h>
#include "TrajectoryObject.h"
using namespace Robot;
using namespace App;

3
src/Mod/Robot/App/TrajectoryObject.h
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@@ -20,17 +20,16 @@
* *
***************************************************************************/
#ifndef ROBOT_TrajectoryObject_H
#define ROBOT_TrajectoryObject_H
#include <App/GeoFeature.h>
#include <App/PropertyFile.h>
#include <App/PropertyGeo.h>
#include "Trajectory.h"
#include "PropertyTrajectory.h"
namespace Robot
{

4
src/Mod/Robot/App/TrajectoryPyImp.cpp
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@@ -20,18 +20,16 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#include <Base/VectorPy.h>
#include <Base/PlacementPy.h>
#include "Mod/Robot/App/Trajectory.h"
// inclusion of the generated files (generated out of TrajectoryPy.xml)
#include <Mod/Robot/App/TrajectoryPy.h>
#include <Mod/Robot/App/TrajectoryPy.cpp>
#include <Mod/Robot/App/WaypointPy.h>
using namespace Robot;
// returns a string which represents the object e.g. when printed in python

15
src/Mod/Robot/App/Waypoint.cpp
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@@ -20,26 +20,17 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include "kdl_cp/chain.hpp"
#endif
#include <Base/Writer.h>
#include <Base/Reader.h>
#include "kdl_cp/chain.hpp"
#include "kdl_cp/chainfksolver.hpp"
#include "kdl_cp/chainfksolverpos_recursive.hpp"
#include "kdl_cp/frames_io.hpp"
#include "kdl_cp/chainiksolver.hpp"
#include "kdl_cp/chainiksolvervel_pinv.hpp"
#include "kdl_cp/chainjnttojacsolver.hpp"
#include "kdl_cp/chainiksolverpos_nr.hpp"
#include <Base/Writer.h>
#include "Waypoint.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#define M_PI 3.14159265358979323846 /* pi */

6
src/Mod/Robot/App/Waypoint.h
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@@ -20,20 +20,16 @@
* *
***************************************************************************/
#ifndef ROBOT_WAYPOINT_H
#define ROBOT_WAYPOINT_H
#include "kdl_cp/chain.hpp"
#include "kdl_cp/jntarray.hpp"
#include <Base/Persistence.h>
#include <Base/Placement.h>
namespace Robot
{
/** The representation of a waypoint in a trajectory
*/
class RobotExport Waypoint : public Base::Persistence

8
src/Mod/Robot/App/WaypointPyImp.cpp
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@@ -20,22 +20,16 @@
* *
***************************************************************************/
#include "PreCompiled.h"
#include <Base/PlacementPy.h>
#include <Base/Placement.h>
#include <Base/Exception.h>
#include <Base/UnitsApi.h>
#include "Mod/Robot/App/Waypoint.h"
// inclusion of the generated files (generated out of WaypointPy.xml)
#include "WaypointPy.h"
#include "WaypointPy.cpp"
using namespace Robot;
using namespace Base;