Update to robot-utils

include/sot/talos_balance/admittance-controller-end-effector.hh

@@ -30,6 +30,7 @@
 /* --------------------------------------------------------------------- */
 
 #include <pinocchio/fwd.hpp>
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 #include <map>
 #include "boost/assign.hpp"
@@ -38,7 +39,6 @@
 #include <pinocchio/multibody/model.hpp>
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/spatial/motion.hpp"
-#include <sot/core/robot-utils.hh>
 #include <pinocchio/algorithm/kinematics.hpp>
 #include <pinocchio/algorithm/frames.hpp>
 #include <pinocchio/algorithm/center-of-mass.hpp>

include/sot/talos_balance/dcm-estimator.hh

@@ -29,6 +29,7 @@
 /* --------------------------------------------------------------------- */
 
 #include <pinocchio/fwd.hpp>
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 #include <sot/core/matrix-geometry.hh>
 #include <map>
@@ -39,7 +40,6 @@
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/parsers/urdf.hpp>
 #include <pinocchio/algorithm/kinematics.hpp>
-#include <sot/core/robot-utils.hh>
 
 namespace dynamicgraph {
 namespace sot {

include/sot/talos_balance/distribute-wrench.hh

@@ -36,11 +36,11 @@
 /* --------------------------------------------------------------------- */
 
 #include <pinocchio/fwd.hpp>
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 
 #include <map>
 #include "boost/assign.hpp"
-#include <sot/core/robot-utils.hh>
 
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/multibody/data.hpp>

include/sot/talos_balance/dummy-walking-pattern-generator.hh

@@ -34,12 +34,11 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 #include <map>
 #include "boost/assign.hpp"
 
-#include <sot/core/robot-utils.hh>
 #include <sot/core/matrix-geometry.hh>
 #include <dynamic-graph/linear-algebra.h>
 

include/sot/talos_balance/example.hh

@@ -34,12 +34,11 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 
 #include <map>
 #include "boost/assign.hpp"
-#include <sot/core/robot-utils.hh>
 
 namespace dynamicgraph {
 namespace sot {

include/sot/talos_balance/ft-calibration.hh

@@ -27,10 +27,10 @@
 /* --------------------------------------------------------------------- */
 
 #include <pinocchio/fwd.hpp>
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 #include <dynamic-graph/real-time-logger.h>
 #include <sot/core/matrix-geometry.hh>
-#include <sot/core/robot-utils.hh>
 #include <map>
 #include "boost/assign.hpp"
 

include/sot/talos_balance/ft-wrist-calibration.hh

@@ -28,10 +28,10 @@
 /* --------------------------------------------------------------------- */
 
 #include <pinocchio/fwd.hpp>
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 #include <dynamic-graph/real-time-logger.h>
 #include <sot/core/matrix-geometry.hh>
-#include <sot/core/robot-utils.hh>
 #include <map>
 #include "boost/assign.hpp"
 

include/sot/talos_balance/hip-flexibility-compensation.hh

@@ -34,11 +34,10 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 
 #include <map>
-#include <sot/core/robot-utils.hh>
 #include "boost/assign.hpp"
 
 namespace dynamicgraph {

include/sot/talos_balance/qualisys-client.hh

@@ -34,12 +34,11 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 
 #include <map>
 #include "boost/assign.hpp"
-#include <sot/core/robot-utils.hh>
 #include <boost/thread.hpp>
 #include <boost/chrono.hpp>
 

include/sot/talos_balance/simple-distribute-wrench.hh

@@ -36,11 +36,11 @@
 /* --------------------------------------------------------------------- */
 
 #include <pinocchio/fwd.hpp>
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 
 #include <map>
 #include "boost/assign.hpp"
-#include <sot/core/robot-utils.hh>
 
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/multibody/data.hpp>

include/sot/talos_balance/simple-reference-frame.hh

@@ -34,12 +34,12 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
+#include <sot/core/robot-utils.hh>
 
 #include <dynamic-graph/signal-helper.h>
 #include <map>
 #include "boost/assign.hpp"
 
-#include <sot/core/robot-utils.hh>
 #include <sot/core/matrix-geometry.hh>
 #include <dynamic-graph/linear-algebra.h>
 

include/sot/talos_balance/state-transformation.hh

@@ -31,6 +31,7 @@
 #define STATETRANSFORMATION_EXPORT
 #endif
 
+#include <sot/core/robot-utils.hh>
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
@@ -39,7 +40,6 @@
 #include <map>
 #include "boost/assign.hpp"
 
-#include <sot/core/robot-utils.hh>
 #include <sot/core/matrix-geometry.hh>
 #include <dynamic-graph/linear-algebra.h>
 

include/sot/talos_balance/talos-base-estimator.hh

@@ -34,8 +34,8 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-
 #include <pinocchio/fwd.hpp>
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 #include <sot/core/matrix-geometry.hh>
 #include <map>
@@ -47,7 +47,6 @@
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/parsers/urdf.hpp>
 #include <pinocchio/algorithm/kinematics.hpp>
-#include <sot/core/robot-utils.hh>
 
 namespace dynamicgraph {
 namespace sot {

include/sot/talos_balance/talos-control-manager.hh

@@ -34,10 +34,9 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-
+#include <sot/core/robot-utils.hh>
 #include <dynamic-graph/signal-helper.h>
 #include <sot/core/matrix-geometry.hh>
-#include <sot/core/robot-utils.hh>
 #include <map>
 #include "boost/assign.hpp"
 

tests/test_distribute.cpp

+#include <pinocchio/fwd.hpp>
+#include "sot/core/robot-utils.hh"
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/parsers/urdf.hpp"
 #include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/center-of-mass.hpp"
 #include "pinocchio/algorithm/frames.hpp"
 
-#include "sot/core/parameter-server.hh"
 #include "sot/talos_balance/distribute-wrench.hh"
 
 #include <example-robot-data/path.hpp>
@@ -12,6 +13,7 @@
 #include <boost/test/unit_test.hpp>
 
 #include "test-paths.h"
+#include "sot/core/parameter-server.hh"
 
 using namespace dynamicgraph::sot;
 using namespace dynamicgraph::sot::talos_balance;