tesseract-robotics · Levi-Armstrong · Aug 18, 2023 · Aug 17, 2023
diff --git a/tesseract_motion_planners/CMakeLists.txt b/tesseract_motion_planners/CMakeLists.txt
@@ -45,6 +45,13 @@ tesseract_variables()
 
 add_subdirectory(core)
 
+# Simple
+option(TESSERACT_BUILD_SIMPLE "Build the simple planner" ON)
+if(TESSERACT_BUILD_SIMPLE)
+  message("Building Simple Planner")
+  add_subdirectory(simple)
+endif()
+
 # OMPL
 option(TESSERACT_BUILD_OMPL "Build the OMPL planner" ON)
 if(TESSERACT_BUILD_OMPL)

diff --git a/tesseract_motion_planners/core/CMakeLists.txt b/tesseract_motion_planners/core/CMakeLists.txt
@@ -2,7 +2,7 @@ find_package(tesseract_environment REQUIRED)
 find_package(tesseract_command_language REQUIRED)
 
 # Create interface for core
-add_library(${PROJECT_NAME}_core src/core/planner.cpp src/core/utils.cpp src/core/interpolation.cpp)
+add_library(${PROJECT_NAME}_core src/planner.cpp src/utils.cpp src/interpolation.cpp)
 target_link_libraries(
   ${PROJECT_NAME}_core
   PUBLIC tesseract::tesseract_environment
@@ -24,32 +24,8 @@ target_code_coverage(
 target_include_directories(${PROJECT_NAME}_core PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                        "$<INSTALL_INTERFACE:include>")
 
-# Simple Planner
-add_library(
-  ${PROJECT_NAME}_simple
-  src/simple/simple_motion_planner.cpp
-  src/simple/profile/simple_planner_lvs_plan_profile.cpp
-  src/simple/profile/simple_planner_lvs_no_ik_plan_profile.cpp
-  src/simple/profile/simple_planner_fixed_size_assign_plan_profile.cpp
-  src/simple/profile/simple_planner_fixed_size_plan_profile.cpp)
-target_link_libraries(${PROJECT_NAME}_simple PUBLIC ${PROJECT_NAME}_core Boost::boost)
-target_compile_options(${PROJECT_NAME}_simple PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
-target_compile_options(${PROJECT_NAME}_simple PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(${PROJECT_NAME}_simple PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
-target_clang_tidy(${PROJECT_NAME}_simple ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_simple PUBLIC VERSION ${TESSERACT_CXX_VERSION})
-target_code_coverage(
-  ${PROJECT_NAME}_simple
-  PRIVATE
-  ALL
-  EXCLUDE ${COVERAGE_EXCLUDE}
-  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-target_include_directories(${PROJECT_NAME}_simple PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                                         "$<INSTALL_INTERFACE:include>")
-add_dependencies(${PROJECT_NAME}_simple ${PROJECT_NAME}_core)
-
 # Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
 
 # Install targets
-install_targets(TARGETS ${PROJECT_NAME}_core ${PROJECT_NAME}_simple)
+install_targets(TARGETS ${PROJECT_NAME}_core)
diff --git a/..._planners/core/src/core/interpolation.cpp → ...otion_planners/core/src/interpolation.cpp b/..._planners/core/src/core/interpolation.cpp → ...otion_planners/core/src/interpolation.cpp
diff --git a/...motion_planners/core/src/core/planner.cpp → ...ract_motion_planners/core/src/planner.cpp b/...motion_planners/core/src/core/planner.cpp → ...ract_motion_planners/core/src/planner.cpp
diff --git a/...t_motion_planners/core/src/core/utils.cpp → tesseract_motion_planners/core/src/utils.cpp b/...t_motion_planners/core/src/core/utils.cpp → tesseract_motion_planners/core/src/utils.cpp
diff --git a/tesseract_motion_planners/simple/CMakeLists.txt b/tesseract_motion_planners/simple/CMakeLists.txt
@@ -0,0 +1,31 @@
+find_package(tesseract_environment REQUIRED)
+find_package(tesseract_command_language REQUIRED)
+
+add_library(
+  ${PROJECT_NAME}_simple
+  src/simple_motion_planner.cpp
+  src/profile/simple_planner_lvs_plan_profile.cpp
+  src/profile/simple_planner_lvs_no_ik_plan_profile.cpp
+  src/profile/simple_planner_fixed_size_assign_plan_profile.cpp
+  src/profile/simple_planner_fixed_size_plan_profile.cpp)
+target_link_libraries(${PROJECT_NAME}_simple PUBLIC ${PROJECT_NAME}_core Boost::boost)
+target_compile_options(${PROJECT_NAME}_simple PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
+target_compile_options(${PROJECT_NAME}_simple PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
+target_compile_definitions(${PROJECT_NAME}_simple PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
+target_clang_tidy(${PROJECT_NAME}_simple ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+target_cxx_version(${PROJECT_NAME}_simple PUBLIC VERSION ${TESSERACT_CXX_VERSION})
+target_code_coverage(
+  ${PROJECT_NAME}_simple
+  PRIVATE
+  ALL
+  EXCLUDE ${COVERAGE_EXCLUDE}
+  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
+target_include_directories(${PROJECT_NAME}_simple PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                                                         "$<INSTALL_INTERFACE:include>")
+add_dependencies(${PROJECT_NAME}_simple ${PROJECT_NAME}_core)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
+
+# Install targets
+install_targets(TARGETS ${PROJECT_NAME}_simple)
diff --git a/..._planner_fixed_size_assign_plan_profile.h → ..._planner_fixed_size_assign_plan_profile.h b/..._planner_fixed_size_assign_plan_profile.h → ..._planner_fixed_size_assign_plan_profile.h
diff --git a/.../simple_planner_fixed_size_plan_profile.h → .../simple_planner_fixed_size_plan_profile.h b/.../simple_planner_fixed_size_plan_profile.h → .../simple_planner_fixed_size_plan_profile.h
diff --git a/...e/simple_planner_lvs_no_ik_plan_profile.h → ...e/simple_planner_lvs_no_ik_plan_profile.h b/...e/simple_planner_lvs_no_ik_plan_profile.h → ...e/simple_planner_lvs_no_ik_plan_profile.h
diff --git a/...profile/simple_planner_lvs_plan_profile.h → ...profile/simple_planner_lvs_plan_profile.h b/...profile/simple_planner_lvs_plan_profile.h → ...profile/simple_planner_lvs_plan_profile.h
diff --git a/...s/simple/profile/simple_planner_profile.h → ...s/simple/profile/simple_planner_profile.h b/...s/simple/profile/simple_planner_profile.h → ...s/simple/profile/simple_planner_profile.h
diff --git a/...n_planners/simple/simple_motion_planner.h → ...n_planners/simple/simple_motion_planner.h b/...n_planners/simple/simple_motion_planner.h → ...n_planners/simple/simple_motion_planner.h
diff --git a/...lanner_fixed_size_assign_plan_profile.cpp → ...lanner_fixed_size_assign_plan_profile.cpp b/...lanner_fixed_size_assign_plan_profile.cpp → ...lanner_fixed_size_assign_plan_profile.cpp
diff --git a/...imple_planner_fixed_size_plan_profile.cpp → ...imple_planner_fixed_size_plan_profile.cpp b/...imple_planner_fixed_size_plan_profile.cpp → ...imple_planner_fixed_size_plan_profile.cpp
diff --git a/...simple_planner_lvs_no_ik_plan_profile.cpp → ...simple_planner_lvs_no_ik_plan_profile.cpp b/...simple_planner_lvs_no_ik_plan_profile.cpp → ...simple_planner_lvs_no_ik_plan_profile.cpp
diff --git a/...ofile/simple_planner_lvs_plan_profile.cpp → ...ofile/simple_planner_lvs_plan_profile.cpp b/...ofile/simple_planner_lvs_plan_profile.cpp → ...ofile/simple_planner_lvs_plan_profile.cpp
diff --git a/...core/src/simple/simple_motion_planner.cpp → ...ners/simple/src/simple_motion_planner.cpp b/...core/src/simple/simple_motion_planner.cpp → ...ners/simple/src/simple_motion_planner.cpp