From b0540a2e0d404121b8ef2d0952cce1e282c08c9c Mon Sep 17 00:00:00 2001
From: Moju Zhao <chou@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 18 Sep 2022 02:59:32 +0900
Subject: [PATCH] [Robot Control] refactor the control framework for better
 understanding

---
 aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h | 2 +-
 aerial_robot_control/CMakeLists.txt                             | 2 +-
 .../control/{control_base.h => base/base.h}                     | 0
 .../control/{ => base}/pose_linear_controller.h                 | 2 +-
 .../aerial_robot_control/control/fully_actuated_controller.h    | 2 +-
 .../aerial_robot_control/control/under_actuated_controller.h    | 2 +-
 .../src/control/{ => base}/pose_linear_controller.cpp           | 2 +-
 robots/dragon/include/dragon/control/full_vectoring_control.h   | 2 +-
 8 files changed, 7 insertions(+), 7 deletions(-)
 rename aerial_robot_control/include/aerial_robot_control/control/{control_base.h => base/base.h} (100%)
 rename aerial_robot_control/include/aerial_robot_control/control/{ => base}/pose_linear_controller.h (98%)
 rename aerial_robot_control/src/control/{ => base}/pose_linear_controller.cpp (99%)

diff --git a/aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h b/aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h
index d1576b9a6..df6ffd1a3 100644
--- a/aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h
+++ b/aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h
@@ -3,7 +3,7 @@
 #include <ros/ros.h>
 #include <ros/callback_queue.h>
 #include <pluginlib/class_loader.h>
-#include <aerial_robot_control/control/control_base.h>
+#include <aerial_robot_control/control/base/base.h>
 #include <aerial_robot_control/flight_navigation.h>
 #include <aerial_robot_estimation/state_estimation.h>
 #include <aerial_robot_model/model/aerial_robot_model_ros.h>
diff --git a/aerial_robot_control/CMakeLists.txt b/aerial_robot_control/CMakeLists.txt
index 51f0156d4..a92286261 100644
--- a/aerial_robot_control/CMakeLists.txt
+++ b/aerial_robot_control/CMakeLists.txt
@@ -55,7 +55,7 @@ target_link_libraries(control_utils ${EIGEN3_LIBRARIES})
 
 ### flight control plugin
 add_library(flight_control_pluginlib
-  src/control/pose_linear_controller.cpp
+  src/control/base/pose_linear_controller.cpp
   src/control/fully_actuated_controller.cpp
   src/control/under_actuated_controller.cpp)
 
diff --git a/aerial_robot_control/include/aerial_robot_control/control/control_base.h b/aerial_robot_control/include/aerial_robot_control/control/base/base.h
similarity index 100%
rename from aerial_robot_control/include/aerial_robot_control/control/control_base.h
rename to aerial_robot_control/include/aerial_robot_control/control/base/base.h
diff --git a/aerial_robot_control/include/aerial_robot_control/control/pose_linear_controller.h b/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h
similarity index 98%
rename from aerial_robot_control/include/aerial_robot_control/control/pose_linear_controller.h
rename to aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h
index abc8c3e29..68d9f54a5 100644
--- a/aerial_robot_control/include/aerial_robot_control/control/pose_linear_controller.h
+++ b/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h
@@ -35,7 +35,7 @@
 
 #pragma once
 
-#include <aerial_robot_control/control/control_base.h>
+#include <aerial_robot_control/control/base/base.h>
 #include <aerial_robot_control/control/utils/pid.h>
 #include <aerial_robot_control/PidControlConfig.h>
 #include <aerial_robot_msgs/DynamicReconfigureLevels.h>
diff --git a/aerial_robot_control/include/aerial_robot_control/control/fully_actuated_controller.h b/aerial_robot_control/include/aerial_robot_control/control/fully_actuated_controller.h
index 1276243df..439710b81 100644
--- a/aerial_robot_control/include/aerial_robot_control/control/fully_actuated_controller.h
+++ b/aerial_robot_control/include/aerial_robot_control/control/fully_actuated_controller.h
@@ -35,7 +35,7 @@
 #pragma once
 
 #include <aerial_robot_msgs/WrenchAllocationMatrix.h>
-#include <aerial_robot_control/control/pose_linear_controller.h>
+#include <aerial_robot_control/control/base/pose_linear_controller.h>
 #include <spinal/FourAxisCommand.h>
 #include <spinal/RollPitchYawTerms.h>
 #include <spinal/TorqueAllocationMatrixInv.h>
diff --git a/aerial_robot_control/include/aerial_robot_control/control/under_actuated_controller.h b/aerial_robot_control/include/aerial_robot_control/control/under_actuated_controller.h
index a90860e90..2e1ea7544 100644
--- a/aerial_robot_control/include/aerial_robot_control/control/under_actuated_controller.h
+++ b/aerial_robot_control/include/aerial_robot_control/control/under_actuated_controller.h
@@ -34,7 +34,7 @@
  *********************************************************************/
 #pragma once
 
-#include <aerial_robot_control/control/pose_linear_controller.h>
+#include <aerial_robot_control/control/base/pose_linear_controller.h>
 #include <spinal/FourAxisCommand.h>
 #include <spinal/RollPitchYawTerms.h>
 #include <spinal/TorqueAllocationMatrixInv.h>
diff --git a/aerial_robot_control/src/control/pose_linear_controller.cpp b/aerial_robot_control/src/control/base/pose_linear_controller.cpp
similarity index 99%
rename from aerial_robot_control/src/control/pose_linear_controller.cpp
rename to aerial_robot_control/src/control/base/pose_linear_controller.cpp
index b3261a9e7..dae89e910 100644
--- a/aerial_robot_control/src/control/pose_linear_controller.cpp
+++ b/aerial_robot_control/src/control/base/pose_linear_controller.cpp
@@ -34,7 +34,7 @@
  *********************************************************************/
 
 
-#include <aerial_robot_control/control/pose_linear_controller.h>
+#include <aerial_robot_control/control/base/pose_linear_controller.h>
 
 namespace aerial_robot_control
 {
diff --git a/robots/dragon/include/dragon/control/full_vectoring_control.h b/robots/dragon/include/dragon/control/full_vectoring_control.h
index 41c43ed3e..2a956da14 100644
--- a/robots/dragon/include/dragon/control/full_vectoring_control.h
+++ b/robots/dragon/include/dragon/control/full_vectoring_control.h
@@ -35,7 +35,7 @@
 
 #pragma once
 
-#include <aerial_robot_control/control/pose_linear_controller.h>
+#include <aerial_robot_control/control/base/pose_linear_controller.h>
 #include <dragon/model/full_vectoring_robot_model.h>
 #include <geometry_msgs/WrenchStamped.h>
 #include <spinal/FourAxisCommand.h>