From 42e560adb559329a83f31ee86c1c6bc1cac04057 Mon Sep 17 00:00:00 2001
From: "Felix Exner (fexner)" <exner@fzi.de>
Date: Mon, 29 Jul 2024 10:16:07 +0200
Subject: [PATCH] Move ik_solver header files to
 cartesian_trajectory_controller (#19)

Otherwise they are not installed. And installing headers to another folder than
the package prefix seems absolutely wrong, so I moved the headers to the
cartesian_trajectory_controller include directory.
---
 .../include/cartesian_trajectory_controller/control_policies.h  | 2 +-
 .../ik_solver_base.h                                            | 0
 .../ik_solver_example.h                                         | 2 +-
 cartesian_trajectory_controller/src/ik_solver_example.cpp       | 2 +-
 4 files changed, 3 insertions(+), 3 deletions(-)
 rename cartesian_trajectory_controller/include/{inverse_kinematics => cartesian_trajectory_controller}/ik_solver_base.h (100%)
 rename cartesian_trajectory_controller/include/{inverse_kinematics => cartesian_trajectory_controller}/ik_solver_example.h (97%)

diff --git a/cartesian_trajectory_controller/include/cartesian_trajectory_controller/control_policies.h b/cartesian_trajectory_controller/include/cartesian_trajectory_controller/control_policies.h
index 5069045..e25fb61 100644
--- a/cartesian_trajectory_controller/include/cartesian_trajectory_controller/control_policies.h
+++ b/cartesian_trajectory_controller/include/cartesian_trajectory_controller/control_policies.h
@@ -36,8 +36,8 @@
 #include "hardware_interface/joint_state_interface.h"
 #include "kdl/chainfksolver.hpp"
 #include <cartesian_trajectory_interpolation/cartesian_state.h>
+#include <cartesian_trajectory_controller/ik_solver_base.h>
 #include <pluginlib/class_loader.h>
-#include <inverse_kinematics/ik_solver_base.h>
 
 // KDL
 #include <kdl/chain.hpp>
diff --git a/cartesian_trajectory_controller/include/inverse_kinematics/ik_solver_base.h b/cartesian_trajectory_controller/include/cartesian_trajectory_controller/ik_solver_base.h
similarity index 100%
rename from cartesian_trajectory_controller/include/inverse_kinematics/ik_solver_base.h
rename to cartesian_trajectory_controller/include/cartesian_trajectory_controller/ik_solver_base.h
diff --git a/cartesian_trajectory_controller/include/inverse_kinematics/ik_solver_example.h b/cartesian_trajectory_controller/include/cartesian_trajectory_controller/ik_solver_example.h
similarity index 97%
rename from cartesian_trajectory_controller/include/inverse_kinematics/ik_solver_example.h
rename to cartesian_trajectory_controller/include/cartesian_trajectory_controller/ik_solver_example.h
index 073629e..f12aac9 100644
--- a/cartesian_trajectory_controller/include/inverse_kinematics/ik_solver_example.h
+++ b/cartesian_trajectory_controller/include/cartesian_trajectory_controller/ik_solver_example.h
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include <inverse_kinematics/ik_solver_base.h>
+#include <cartesian_trajectory_controller/ik_solver_base.h>
 #include <kdl/chainiksolverpos_lma.hpp>
 #include <kdl/chain.hpp>
 #include <memory>
diff --git a/cartesian_trajectory_controller/src/ik_solver_example.cpp b/cartesian_trajectory_controller/src/ik_solver_example.cpp
index 2b7a71e..2992c33 100644
--- a/cartesian_trajectory_controller/src/ik_solver_example.cpp
+++ b/cartesian_trajectory_controller/src/ik_solver_example.cpp
@@ -24,7 +24,7 @@
  */
 //-----------------------------------------------------------------------------
 
-#include <inverse_kinematics/ik_solver_example.h>
+#include <cartesian_trajectory_controller/ik_solver_example.h>
 
 // Pluginlib
 #include <pluginlib/class_list_macros.h>