[math] Merge integration into math

dartsim · Mar 23, 2024 · 119b543 · 119b543
1 parent f33fd04
commit 119b543
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Showing 17 changed files with 32 additions and 61 deletions.
diff --git a/.clang-format b/.clang-format
@@ -78,8 +78,6 @@ IncludeCategories:
     Priority: 28
   - Regex: '^<dart\/lcpsolver\/.*\.h(pp)?>$'
     Priority: 29
-  - Regex: '^<dart\/integration\/.*\.h(pp)?>$'
-    Priority: 30
   - Regex: '^<dart\/math\/.*\.h(pp)?>$'
     Priority: 31
   - Regex: '^<dart\/common\/.*\.h(pp)?>$'

diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -15,7 +15,6 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
 #===============================================================================
 # common
 # math
-# integration
 # lcpsolver
 # optimizer
 #   ipopt
@@ -37,7 +36,7 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
 #===============================================================================
 # Targets - {dependency targets}, source directories, [external dependency libs]
 #===============================================================================
-# dart - common, math, integration, lcpsolver, optimizer, dynamics, collision,
+# dart - common, math, lcpsolver, optimizer, dynamics, collision,
 #        collision/dart, collision/fcl, constraint, simulation, [assimp, eigen3,
 #        fcl, fmt]
 # dart-optimizer-ipopt - {dart}, optimizer/ipopt, [ipopt]
@@ -74,7 +73,6 @@ endfunction(dart_add_core_sources)
 # Add subdirectories
 add_subdirectory(common)
 add_subdirectory(math)
-add_subdirectory(integration)
 add_subdirectory(lcpsolver)
 add_subdirectory(optimizer)
 add_subdirectory(dynamics)

diff --git a/dart/dart.hpp b/dart/dart.hpp
@@ -34,7 +34,7 @@
 #include <dart/config.hpp>
 #include <dart/common/common.hpp>
 #include <dart/math/math.hpp>
-#include <dart/integration/integration.hpp>
+#include <dart/math/math.hpp>
 #include <dart/collision/collision.hpp>
 #include <dart/lcpsolver/lcpsolver.hpp>
 #include <dart/constraint/constraint.hpp>

diff --git a/dart/integration/CMakeLists.txt b/dart/integration/CMakeLists.txt
diff --git a/dart/integration/EulerIntegrator.cpp → dart/math/EulerIntegrator.cpp b/dart/integration/EulerIntegrator.cpp → dart/math/EulerIntegrator.cpp
@@ -30,10 +30,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/integration/EulerIntegrator.hpp"
+#include "dart/math/EulerIntegrator.hpp"
 
 namespace dart {
-namespace integration {
+namespace math {
 
 //==============================================================================
 EulerIntegrator::EulerIntegrator() : Integrator() {}
@@ -60,5 +60,5 @@ void EulerIntegrator::integrateVel(IntegrableSystem* _system, double _dt)
   _system->integrateGenVels(_system->evalGenAccs(), _dt);
 }
 
-} // namespace integration
+} // namespace math
 } // namespace dart
diff --git a/dart/integration/EulerIntegrator.hpp → dart/math/EulerIntegrator.hpp b/dart/integration/EulerIntegrator.hpp → dart/math/EulerIntegrator.hpp
@@ -33,10 +33,10 @@
 #ifndef DART_INTEGRATION_EULERINTEGRATOR_HPP_
 #define DART_INTEGRATION_EULERINTEGRATOR_HPP_
 
-#include <dart/integration/Integrator.hpp>
+#include <dart/math/Integrator.hpp>
 
 namespace dart {
-namespace integration {
+namespace math {
 
 /// \brief class EulerIntegrator
 class EulerIntegrator : public Integrator
@@ -58,7 +58,7 @@ class EulerIntegrator : public Integrator
   void integrateVel(IntegrableSystem* _system, double _dt) override;
 };
 
-} // namespace integration
+} // namespace math
 } // namespace dart
 
 #endif // DART_INTEGRATION_EULERINTEGRATOR_HPP_
diff --git a/dart/integration/Integrator.cpp → dart/math/Integrator.cpp b/dart/integration/Integrator.cpp → dart/math/Integrator.cpp
@@ -30,10 +30,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/integration/Integrator.hpp"
+#include "dart/math/Integrator.hpp"
 
 namespace dart {
-namespace integration {
+namespace math {
 
 //==============================================================================
 IntegrableSystem::IntegrableSystem() {}
@@ -47,5 +47,5 @@ Integrator::Integrator() {}
 //==============================================================================
 Integrator::~Integrator() {}
 
-} // namespace integration
+} // namespace math
 } // namespace dart
diff --git a/dart/integration/Integrator.hpp → dart/math/Integrator.hpp b/dart/integration/Integrator.hpp → dart/math/Integrator.hpp
@@ -38,7 +38,7 @@
 #include <vector>
 
 namespace dart {
-namespace integration {
+namespace math {
 
 /// \brief Any class that uses an integrator should implement this interface
 class IntegrableSystem
@@ -98,7 +98,7 @@ class Integrator
   virtual void integrateVel(IntegrableSystem* _system, double _dt) = 0;
 };
 
-} // namespace integration
+} // namespace math
 } // namespace dart
 
 #endif // DART_INTEGRATION_INTEGRATOR_HPP_
diff --git a/dart/integration/RK4Integrator.cpp → dart/math/RK4Integrator.cpp b/dart/integration/RK4Integrator.cpp → dart/math/RK4Integrator.cpp
@@ -30,10 +30,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/integration/RK4Integrator.hpp"
+#include "dart/math/RK4Integrator.hpp"
 
 namespace dart {
-namespace integration {
+namespace math {
 
 //==============================================================================
 RK4Integrator::RK4Integrator() {}
@@ -100,5 +100,5 @@ void RK4Integrator::integrate(IntegrableSystem* _system, double _dt)
       1.0 / 6.0 * (ddq1 + (2.0 * ddq2) + (2.0 * ddq3) + ddq4), _dt);
 }
 
-} // namespace integration
+} // namespace math
 } // namespace dart
diff --git a/dart/integration/RK4Integrator.hpp → dart/math/RK4Integrator.hpp b/dart/integration/RK4Integrator.hpp → dart/math/RK4Integrator.hpp
@@ -33,10 +33,10 @@
 #ifndef DART_INTEGRATION_RK4INTEGRATOR_HPP_
 #define DART_INTEGRATION_RK4INTEGRATOR_HPP_
 
-#include <dart/integration/Integrator.hpp>
+#include <dart/math/Integrator.hpp>
 
 namespace dart {
-namespace integration {
+namespace math {
 
 /// \brief class RK4Integrator
 class RK4Integrator : public Integrator
@@ -62,7 +62,7 @@ class RK4Integrator : public Integrator
   Eigen::VectorXd ddq1, ddq2, ddq3, ddq4;
 };
 
-} // namespace integration
+} // namespace math
 } // namespace dart
 
 #endif // DART_INTEGRATION_RK4INTEGRATOR_HPP_
diff --git a/...tegration/SemiImplicitEulerIntegrator.cpp → dart/math/SemiImplicitEulerIntegrator.cpp b/...tegration/SemiImplicitEulerIntegrator.cpp → dart/math/SemiImplicitEulerIntegrator.cpp
@@ -30,10 +30,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/integration/SemiImplicitEulerIntegrator.hpp"
+#include "dart/math/SemiImplicitEulerIntegrator.hpp"
 
 namespace dart {
-namespace integration {
+namespace math {
 
 //==============================================================================
 SemiImplicitEulerIntegrator::SemiImplicitEulerIntegrator() : Integrator() {}
@@ -63,5 +63,5 @@ void SemiImplicitEulerIntegrator::integrateVel(
   _system->integrateGenVels(_system->evalGenAccs(), _dt);
 }
 
-} // namespace integration
+} // namespace math
 } // namespace dart
diff --git a/...tegration/SemiImplicitEulerIntegrator.hpp → dart/math/SemiImplicitEulerIntegrator.hpp b/...tegration/SemiImplicitEulerIntegrator.hpp → dart/math/SemiImplicitEulerIntegrator.hpp
@@ -33,10 +33,10 @@
 #ifndef DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_
 #define DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_
 
-#include <dart/integration/Integrator.hpp>
+#include <dart/math/Integrator.hpp>
 
 namespace dart {
-namespace integration {
+namespace math {
 
 /// \brief class SemiImplicitEulerIntegrator
 class SemiImplicitEulerIntegrator : public Integrator
@@ -58,7 +58,7 @@ class SemiImplicitEulerIntegrator : public Integrator
   void integrateVel(IntegrableSystem* _system, double _dt) override;
 };
 
-} // namespace integration
+} // namespace math
 } // namespace dart
 
 #endif // DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_
diff --git a/dart/simulation/World.cpp b/dart/simulation/World.cpp
@@ -43,7 +43,7 @@
 #include "dart/constraint/BoxedLcpConstraintSolver.hpp"
 #include "dart/constraint/ConstrainedGroup.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/integration/SemiImplicitEulerIntegrator.hpp"
+#include "dart/math/SemiImplicitEulerIntegrator.hpp"
 
 #include <iostream>
 #include <string>

diff --git a/dart/simulation/World.hpp b/dart/simulation/World.hpp
@@ -61,10 +61,6 @@
 
 namespace dart {
 
-namespace integration {
-class Integrator;
-} // namespace integration
-
 namespace dynamics {
 class Skeleton;
 } // namespace dynamics

diff --git a/examples/deprecated_examples/glut_joint_constraints/MyWindow.hpp b/examples/deprecated_examples/glut_joint_constraints/MyWindow.hpp
@@ -79,13 +79,13 @@ class MyWindow : public dart::gui::glut::SimWindow
 /*
 #include "Controller.hpp"
 #include "dynamics/SkeletonDynamics.hpp"
-#include "integration/EulerIntegrator.hpp"
-#include "integration/RK4Integrator.hpp"
+#include "math/EulerIntegrator.hpp"
+#include "math/RK4Integrator.hpp"
 #include "yui/Win3D.hpp"
 
 #include <stdarg.h>
 
-class MyWindow : public yui::Win3D, public integration::IntegrableSystem {
+class MyWindow : public yui::Win3D, public math::IntegrableSystem {
 public:
     //    MyWindow(dynamics::SkeletonDynamics* _m1, dynamics::SkeletonDynamics*
 _m2) MyWindow(dynamics::SkeletonDynamics* _mList = 0, ...): Win3D() {
@@ -145,8 +145,8 @@ dynamics::SkeletonDynamics*); if(skel) mSkels.push_back(skel); else break;
     int mPlayFrame;
     bool mPlay;
     bool mShowMarkers;
-    integration::EulerIntegrator mIntegrator;
-    //    integration::RK4Integrator mIntegrator;
+    math::EulerIntegrator mIntegrator;
+    //    math::RK4Integrator mIntegrator;
     std::vector<Eigen::VectorXd> mBakedStates;
 
     std::vector<dynamics::SkeletonDynamics*> mSkels;

diff --git a/scripts/code_check.sh b/scripts/code_check.sh
@@ -8,7 +8,6 @@ CHECK_DIRS="#../dart/collision\
             ../dart/constraint\
             #../dart/dynamics\
             #../dart/gui\
-            #../dart/integration\
             #../dart/lcpsolver\
             #../dart/math\
             #../dart/optimizer\

diff --git a/tests/integration/test_MjcfParser.cpp b/tests/integration/test_MjcfParser.cpp
@@ -71,7 +71,7 @@ TEST(MjcfParserTest, ParseDetailMujocoAnt)
   EXPECT_EQ(compiler.getCoordinate(), Coordinate::LOCAL);
 
   const auto& option = mujoco.getOption();
-  EXPECT_EQ(option.getIntegrator(), Integrator::RK4);
+  EXPECT_EQ(option.getIntegrator(), MjcfParser::detail::Integrator::RK4);
   EXPECT_DOUBLE_EQ(option.getTimestep(), 0.01);
 
   const auto& worldbody = mujoco.getWorldbody();