Group library directories

Fix
PX4 · Jan 13, 2025 · b257fe9 · b257fe9
1 parent 339d17d
commit b257fe9
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Showing 28 changed files with 51 additions and 17 deletions.
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
@@ -31,9 +31,9 @@
 #
 ############################################################################
 
-add_subdirectory(actuator_effectiveness EXCLUDE_FROM_ALL)
 add_subdirectory(adsb EXCLUDE_FROM_ALL)
 add_subdirectory(airspeed EXCLUDE_FROM_ALL)
+add_subdirectory(allocation EXCLUDE_FROM_ALL)
 add_subdirectory(atmosphere EXCLUDE_FROM_ALL)
 add_subdirectory(avoidance EXCLUDE_FROM_ALL)
 add_subdirectory(battery EXCLUDE_FROM_ALL)
@@ -44,7 +44,6 @@ add_subdirectory(cdrstream EXCLUDE_FROM_ALL)
 add_subdirectory(circuit_breaker EXCLUDE_FROM_ALL)
 add_subdirectory(collision_prevention EXCLUDE_FROM_ALL)
 add_subdirectory(component_information EXCLUDE_FROM_ALL)
-add_subdirectory(control_allocation EXCLUDE_FROM_ALL)
 add_subdirectory(controllib EXCLUDE_FROM_ALL)
 add_subdirectory(conversion EXCLUDE_FROM_ALL)
 add_subdirectory(crc EXCLUDE_FROM_ALL)

diff --git a/src/lib/allocation/CMakeLists.txt b/src/lib/allocation/CMakeLists.txt
@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(control_allocation)
+add_subdirectory(actuator_effectiveness)
diff --git a/...r_effectiveness/ActuatorEffectiveness.cpp → ...r_effectiveness/ActuatorEffectiveness.cpp b/...r_effectiveness/ActuatorEffectiveness.cpp → ...r_effectiveness/ActuatorEffectiveness.cpp
diff --git a/...r_effectiveness/ActuatorEffectiveness.hpp → ...r_effectiveness/ActuatorEffectiveness.hpp b/...r_effectiveness/ActuatorEffectiveness.hpp → ...r_effectiveness/ActuatorEffectiveness.hpp
diff --git a/...lib/actuator_effectiveness/CMakeLists.txt → ...ion/actuator_effectiveness/CMakeLists.txt b/...lib/actuator_effectiveness/CMakeLists.txt → ...ion/actuator_effectiveness/CMakeLists.txt
diff --git a/src/lib/control_allocation/CMakeLists.txt → ...ocation/control_allocation/CMakeLists.txt b/src/lib/control_allocation/CMakeLists.txt → ...ocation/control_allocation/CMakeLists.txt
diff --git a/.../control_allocation/ControlAllocation.cpp → .../control_allocation/ControlAllocation.cpp b/.../control_allocation/ControlAllocation.cpp → .../control_allocation/ControlAllocation.cpp
diff --git a/.../control_allocation/ControlAllocation.hpp → .../control_allocation/ControlAllocation.hpp b/.../control_allocation/ControlAllocation.hpp → .../control_allocation/ControlAllocation.hpp
@@ -71,7 +71,7 @@
 
 #include <matrix/matrix/math.hpp>
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ControlAllocation
 {

diff --git a/...cation/ControlAllocationPseudoInverse.cpp → ...cation/ControlAllocationPseudoInverse.cpp b/...cation/ControlAllocationPseudoInverse.cpp → ...cation/ControlAllocationPseudoInverse.cpp
diff --git a/...cation/ControlAllocationPseudoInverse.hpp → ...cation/ControlAllocationPseudoInverse.hpp b/...cation/ControlAllocationPseudoInverse.hpp → ...cation/ControlAllocationPseudoInverse.hpp
diff --git a/...on/ControlAllocationPseudoInverseTest.cpp → ...on/ControlAllocationPseudoInverseTest.cpp b/...on/ControlAllocationPseudoInverseTest.cpp → ...on/ControlAllocationPseudoInverseTest.cpp
diff --git a/...ntrolAllocationSequentialDesaturation.cpp → ...ntrolAllocationSequentialDesaturation.cpp b/...ntrolAllocationSequentialDesaturation.cpp → ...ntrolAllocationSequentialDesaturation.cpp
diff --git a/...ntrolAllocationSequentialDesaturation.hpp → ...ntrolAllocationSequentialDesaturation.hpp b/...ntrolAllocationSequentialDesaturation.hpp → ...ntrolAllocationSequentialDesaturation.hpp
diff --git a/...lAllocationSequentialDesaturationTest.cpp → ...lAllocationSequentialDesaturationTest.cpp b/...lAllocationSequentialDesaturationTest.cpp → ...lAllocationSequentialDesaturationTest.cpp
diff --git a/...s/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp b/...s/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <lib/slew_rate/SlewRate.hpp>

diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

diff --git a/...modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp b/...modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

diff --git a/...odules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp b/...odules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

diff --git a/...control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp b/...control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessTilts.hpp"
 

diff --git a/...odules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp b/...odules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessMultirotor : public ModuleParams, public ActuatorEffectiveness

diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>

diff --git a/...es/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp b/...es/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ActuatorEffectivenessRoverAckermann : public ActuatorEffectiveness
 {

diff --git a/...ules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp b/...ules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

diff --git a/...es/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp b/...es/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

diff --git a/...les/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/...les/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 #include "ActuatorEffectivenessTilts.hpp"

diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 #include <px4_platform_common/module_params.h>

diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
+#include "allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessUUV : public ModuleParams, public ActuatorEffectiveness