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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Carve out the non-matlab portions of `drake/util` into new homes #3278

Closed jwnimmer-tri closed 7 years ago

jwnimmer-tri commented 8 years ago

Related to #3253, we should find new homes for the C++ forward-looking portions of drake/util. This has been happening incrementally (see prior common and math related PRs, such as #2666, #2779, #2785 #3041 #3121, and cleanups like #3166 #3179 #3180 #3276 #3277). This issue can serve as the burn-down list for finishing up.

jwnimmer-tri commented 8 years ago

Here is my rough cut for uses of util that remain:

./systems/controllers/controlUtil.cpp:7:#include "drake/util/drakeUtil.h"
./systems/controllers/InstantaneousQPController.cpp:15:#include "drake/util/lcmUtil.h"
./systems/controllers/InstantaneousQPController.cpp:17:#include "drake/util/yaml/yamlUtil.h"
./systems/controllers/LQR.h:10:#include "drake/util/drakeGradientUtil.h"
./systems/controllers/LQR.h:11:#include "drake/util/drakeUtil.h"
./systems/controllers/QPCommon.h:11:#include "drake/util/drakeUtil.h"
./systems/controllers/simple_feedback_trajectory_controller.h:8:#include "drake/util/drakeUtil.h"
./systems/plants/constraint/RigidBodyConstraint.cpp:11:#include "drake/util/drakeGeometryUtil.h"
./systems/plants/constraint/RigidBodyConstraint.h:13:#include "drake/util/drakeUtil.h"
./systems/plants/joints/FixedAxisOneDoFJoint.h:12:#include "drake/util/drakeGradientUtil.h"
./systems/plants/joints/QuaternionFloatingJoint.h:7:#include "drake/util/drakeGeometryUtil.h"
./systems/plants/joints/RollPitchYawFloatingJoint.h:7:#include "drake/util/drakeGeometryUtil.h"
./systems/plants/RigidBody.cpp:5:#include "drake/util/drakeGeometryUtil.h"
./systems/plants/RigidBodyTree.cpp:13:#include "drake/util/drakeGeometryUtil.h"
./systems/plants/RigidBodyTree.cpp:14:#include "drake/util/drakeUtil.h"
./systems/plants/RigidBodyTree.h:26:#include "drake/util/drakeGeometryUtil.h"
./systems/plants/RigidBodyTree.h:27:#include "drake/util/drakeUtil.h"
./systems/plants/test/testKinematicsCacheChecks.cpp:11:#include "drake/util/drakeGeometryUtil.h"
./systems/robotInterfaces/QPLocomotionPlan.cpp:19:#include "drake/util/drakeGeometryUtil.h"
./systems/robotInterfaces/QPLocomotionPlan.cpp:20:#include "drake/util/drakeUtil.h"
./systems/robotInterfaces/QPLocomotionPlan.cpp:21:#include "drake/util/lcmUtil.h"
./systems/robotInterfaces/QPLocomotionPlan.cpp:22:#include "drake/util/convexHull.h"

./examples/Atlas/atlas_dynamics_demo.cc:7:#include "drake/util/drakeAppUtil.h"
./examples/Cars/car_sim_lcm.cc:8:#include "drake/util/drakeAppUtil.h"
./examples/Cars/multi_car_sim_lcm.cc:8:#include "drake/util/drakeAppUtil.h"
./examples/kuka_iiwa_arm/run_kuka_iiwa_arm_dynamics.cc:11:#include "drake/util/drakeAppUtil.h"
./examples/Pendulum/pendulum_run_dynamics.cc:11:#include "drake/util/drakeAppUtil.h"
./examples/Pendulum/pendulum_run_energy_shaping.cc:9:#include "drake/util/drakeAppUtil.h"
./examples/Pendulum/pendulum_run_lqr.cc:10:#include "drake/util/drakeAppUtil.h"
./examples/Pendulum/pendulum_run_swing_up.cc:18:#include "drake/util/drakeAppUtil.h"
./examples/Quadrotor/Quadrotor.h:9:#include "drake/util/drakeGeometryUtil.h"
./examples/Quadrotor/runDynamics.cpp:10:#include "drake/util/drakeAppUtil.h"
./examples/Quadrotor/runLQR.cpp:10:#include "drake/util/drakeAppUtil.h"

The systems stuff is a mixed bag; some are probably spurious, some will be one-liners, and some will required a little thought (e.g., yaml).

The examples mostly just need porting to use gflags.

jwnimmer-tri commented 8 years ago

@david-german-tri could I nominate you for fixing the drakeGeometryUtil uses that are relevant to this issue?

(Edit: Full list broken out into ticket #3414.)

RussTedrake commented 8 years ago

@hongkai-dai was the author for many of these and might also be able to help.