Fixes ikfast imports

moveit · Nov 17, 2024 · f0d1f21 · f0d1f21
1 parent fc0425d
commit f0d1f21
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
@@ -251,7 +251,7 @@ def create_ikfast_package(args):
 
 def find_template_dir():
     for candidate in [os.path.dirname(__file__) + "/../templates"]:
-        if os.path.exists(candidate) and os.path.exists(candidate + "/ikfast.hpp"):
+        if os.path.exists(candidate) and os.path.exists(candidate + "/ikfast.h"):
             return os.path.realpath(candidate)
     try:
         return os.path.join(
@@ -303,8 +303,8 @@ def update_ikfast_package(args):
 
     # Copy ikfast header file
     copy_file(
-        template_dir + "/ikfast.hpp",
-        args.ikfast_plugin_pkg_path + "/include/ikfast.hpp",
+        template_dir + "/ikfast.h",
+        args.ikfast_plugin_pkg_path + "/include/ikfast.h",
         "ikfast header file",
     )
     # Create ikfast plugin template

diff --git a/...anners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp b/...anners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp
@@ -22,7 +22,7 @@
 /// To compile without any main function as a shared object (might need -llapack):
 ///     gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp
 #define IKFAST_HAS_LIBRARY
-#include "ikfast.hpp" // found inside share/openrave-X.Y/python/ikfast.h
+#include "ikfast.h" // found inside share/openrave-X.Y/python/ikfast.h
 using namespace ikfast;
 
 // check if the included ikfast version matches what this file was compiled with