Enhancement/use hpp for headers

MIGRATION.md

@@ -3,6 +3,7 @@
 API changes in MoveIt releases
 
 ## ROS Rolling
+- [11/2024] All MoveIt 2 headers have been updated to use the .hpp extension. .h headers are now autogenerated with a deprecation warning, and may be removed in future releases. Please update your imports to use the .hpp headers.
 - [11/2024] Added flags to control padding to CollisionRequest. This change deprecates PlanningScene::checkCollisionUnpadded(..) functions. Please use PlanningScene::checkCollision(..) with a req.pad_environment_collisions = false;
 
 - [12/2023] `trajectory_processing::Path` and `trajectory_processing::Trajectory` APIs have been updated to prevent misuse.

moveit/scripts/create_deprecated_headers.py

@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+# Copyright 2024 Tom Noble.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * 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.
+#
+#    * Neither the name of the copyright holder 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 HOLDER 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.
+
+# Author: Tom Noble
+
+import sys
+import argparse
+import logging
+from typing import List, Tuple
+from pathlib import Path
+
+
+class NoIncludeGuard(Exception):
+    ERROR = "No include guard found in {}.hpp. Unable to generate pretext."
+
+    def __init__(self, file: Path):
+        super().__init__(self.ERROR.format(file))
+
+
+class NoIncludeDirectory(Exception):
+    ERROR = "No include directory found for {}.hpp. Unable to generate relative .hpp include"
+
+    def __init__(self, file: Path):
+        super().__init__(self.ERROR.format(file))
+
+
+class HppFile:
+    def __init__(self, path: Path):
+        self.path = path
+        self.guard = "#pragma once"
+        self.pretext = self.pretext()
+        self.include = self.include()
+
+    def drop_data_after(self, data: str, match: str):
+        return data[: data.find(match) + len(match)]
+
+    def read(self) -> str:
+        data = open(self.path, "r").read()
+        contains_guard = self.guard in data
+        if not contains_guard:
+            raise NoIncludeGuard(self.path)
+        return data
+
+    def pretext(self) -> str:
+        data = self.read()
+        return self.drop_data_after(data, self.guard)
+
+    def include(self) -> str:
+        ends_with_include = lambda p: str(p).endswith("include")
+        include_paths = [p for p in self.path.parents if ends_with_include(p)]
+        if not include_paths:
+            raise NoIncludeDirectory(self.path)
+        relative_import = self.path.relative_to(include_paths[0])
+        return f"#include <{relative_import}>"
+
+
+class DeprecatedHeader:
+    def __init__(self, hpp: HppFile):
+        self.hpp = hpp
+        self.path = hpp.path.with_suffix(".h")
+        self.prefix = f"/* This file was autogenerated by {Path(__file__).name} */"
+        self.warn = '#pragma message(".h header is obsolete. Please use the .hpp header instead.")'
+        self.contents = self.contents()
+
+    def contents(self) -> str:
+        items = [self.prefix, self.hpp.pretext, self.warn, self.hpp.include]
+        return "\n\n".join(items) + "\n"
+
+
+class HeaderSummary:
+    def __init__(self, n_processed_hpps: int, bad_hpps: List[str]):
+        self.n_processed_hpps = n_processed_hpps
+        self.bad_hpps = bad_hpps
+
+    def were_all_hpps_processed(self) -> bool:
+        return len(self.bad_hpps) == 0
+
+    def __repr__(self) -> str:
+        summary = f"Can generate {self.n_processed_hpps} .h files."
+        if self.bad_hpps:
+            summary += f" Cannot generate {len(self.bad_hpps)} .h files:\n\n"
+            summary += "\n".join([f"❌ {hpp}" for hpp in self.bad_hpps])
+            summary += "\n"
+        return summary
+
+
+class DeprecatedHeaderGenerator:
+    def __init__(self, hpp_paths: List[str]):
+        self.hpp_paths = hpp_paths
+        self.processed_hpps = []
+        self.bad_hpps = []
+
+    def __process_hpp(self, hpp: str) -> None:
+        try:
+            self.processed_hpps.append(HppFile(hpp))
+        except (NoIncludeDirectory, NoIncludeGuard) as e:
+            self.bad_hpps.append(str(hpp))
+
+    def process_all_hpps(self) -> HeaderSummary:
+        print(f"\nProcessing {len(self.hpp_paths)} .hpp files...")
+        _ = [self.__process_hpp(hpp) for hpp in self.hpp_paths]
+        return HeaderSummary(len(self.processed_hpps), self.bad_hpps)
+
+    def create_h_files(self) -> None:
+        print(f"Proceeding to generate {len(self.processed_hpps)} .h files...")
+        h_files = [DeprecatedHeader(hpp) for hpp in self.processed_hpps]
+        _ = [open(h.path, "w").write(h.contents) for h in h_files]
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    # TODO: Add argument for skipping private headers
+    parser.add_argument("--apply", action="store_true", help="Generates the .h files")
+    args = parser.parse_args()
+    generator = DeprecatedHeaderGenerator(list(Path.cwd().rglob("*.hpp")))
+    summary = generator.process_all_hpps()
+    print(summary)
+    if args.apply and not summary.were_all_hpps_processed():
+        args.apply = input("Continue? (y/n): ").lower() == "y"
+    if args.apply:
+        generator.create_h_files()
+    else:
+        print("Skipping file generation...")
+    print("Done.\n")

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h

@@ -1,3 +1,5 @@
+/* This file was autogenerated by create_deprecated_headers.py */
+
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
@@ -36,18 +38,6 @@
 
 #pragma once
 
-#include <moveit/collision_detection/collision_detector_allocator.h>
-#include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
-
-#include <moveit_collision_detection_export.h>
+#pragma message(".h header is obsolete. Please use the .hpp header instead.")
 
-namespace collision_detection
-{
-/** \brief An allocator for AllValid collision detectors */
-class MOVEIT_COLLISION_DETECTION_EXPORT CollisionDetectorAllocatorAllValid
-  : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
-{
-public:
-  static const std::string NAME;  // defined in collision_env_allvalid.cpp
-};
-}  // namespace collision_detection
+#include <moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.hpp>

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.hpp

@@ -0,0 +1,53 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * 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.
+ *   * Neither the name of Willow Garage 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.
+ *********************************************************************/
+
+/* Author: Acorn Pooley, Ioan Sucan */
+
+#pragma once
+
+#include <moveit/collision_detection/collision_detector_allocator.hpp>
+#include <moveit/collision_detection/allvalid/collision_env_allvalid.hpp>
+
+#include <moveit_collision_detection_export.h>
+
+namespace collision_detection
+{
+/** \brief An allocator for AllValid collision detectors */
+class MOVEIT_COLLISION_DETECTION_EXPORT CollisionDetectorAllocatorAllValid
+  : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
+{
+public:
+  static const std::string NAME;  // defined in collision_env_allvalid.cpp
+};
+}  // namespace collision_detection

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h

@@ -1,3 +1,5 @@
+/* This file was autogenerated by create_deprecated_headers.py */
+
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
@@ -36,41 +38,6 @@
 
 #pragma once
 
-#include <moveit/collision_detection/collision_env.h>
-
-namespace collision_detection
-{
-/** \brief Collision environment which always just returns no collisions.
- *
- *  This can be used to save resources if collision checking is not important. */
-class CollisionEnvAllValid : public CollisionEnv
-{
-public:
-  CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
-  CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world, double padding = 0.0,
-                       double scale = 1.0);
-  CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world);
-
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
-                           const moveit::core::RobotState& state) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
-                           const AllowedCollisionMatrix& acm) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
-                           const moveit::core::RobotState& state2) const override;
-  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
-                           const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
-
-  virtual double distanceRobot(const moveit::core::RobotState& state) const;
-  virtual double distanceRobot(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const;
-  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
-                     const moveit::core::RobotState& state) const override;
-
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
-                          const moveit::core::RobotState& state) const override;
-  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
-                          const AllowedCollisionMatrix& acm) const override;
+#pragma message(".h header is obsolete. Please use the .hpp header instead.")
 
-  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
-                    const moveit::core::RobotState& state) const override;
-};
-}  // namespace collision_detection
+#include <moveit/collision_detection/allvalid/collision_env_allvalid.hpp>

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.hpp

@@ -0,0 +1,76 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * 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.
+ *   * Neither the name of Willow Garage 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.
+ *********************************************************************/
+
+/* Author: Ioan Sucan, Jia Pan, Jens Petit */
+
+#pragma once
+
+#include <moveit/collision_detection/collision_env.hpp>
+
+namespace collision_detection
+{
+/** \brief Collision environment which always just returns no collisions.
+ *
+ *  This can be used to save resources if collision checking is not important. */
+class CollisionEnvAllValid : public CollisionEnv
+{
+public:
+  CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
+  CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world, double padding = 0.0,
+                       double scale = 1.0);
+  CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world);
+
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
+                           const moveit::core::RobotState& state) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
+                           const AllowedCollisionMatrix& acm) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2) const override;
+  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
+                           const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
+
+  virtual double distanceRobot(const moveit::core::RobotState& state) const;
+  virtual double distanceRobot(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const;
+  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
+                     const moveit::core::RobotState& state) const override;
+
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
+                          const moveit::core::RobotState& state) const override;
+  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
+                          const AllowedCollisionMatrix& acm) const override;
+
+  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
+                    const moveit::core::RobotState& state) const override;
+};
+}  // namespace collision_detection