Delete and remove all references to Util.h

huskyroboticsteam · Oct 27, 2023 · 7d336e5 · 7d336e5
1 parent 5ec6917
commit 7d336e5
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Showing 21 changed files with 15 additions and 26 deletions.
diff --git a/src/Rover.cpp b/src/Rover.cpp
@@ -1,6 +1,5 @@
 #include "Constants.h"
 #include "Globals.h"
-#include "Util.h"
 #include "log.h"
 #include "navtypes.h"
 #include "network/MissionControlProtocol.h"

diff --git a/src/Util.h b/src/Util.h
diff --git a/src/commands/DriveToWaypointCommand.h b/src/commands/DriveToWaypointCommand.h
@@ -3,6 +3,7 @@
 #include "../navtypes.h"
 #include "../world_interface/data.h"
 #include "CommandBase.h"
+#include "../utils/time.h"
 
 #include <chrono>
 #include <optional>

diff --git a/src/control/JacobianVelController.h b/src/control/JacobianVelController.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "../Util.h"
+#include "../utils/time.h"
 #include "../filters/StateSpaceUtil.h"
 #include "../navtypes.h"
 #include "../utils/math.h"

diff --git a/src/control/PIDControl.h b/src/control/PIDControl.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include "../Util.h"
 #include "../world_interface/data.h"
 
 #include <chrono>

diff --git a/src/control/PlanarArmController.h b/src/control/PlanarArmController.h
@@ -3,6 +3,7 @@
 #include "../kinematics/PlanarArmKinematics.h"
 #include "../navtypes.h"
 #include "../world_interface/data.h"
+#include "../utils/time.h"
 
 #include <array>
 #include <initializer_list>

diff --git a/src/control/TrapezoidalVelocityProfile.h b/src/control/TrapezoidalVelocityProfile.h
@@ -1,8 +1,8 @@
 #pragma once
 
-#include "../Util.h"
 #include "../navtypes.h"
 #include "../world_interface/data.h"
+#include "../utils/time.h"
 
 #include <array>
 #include <cmath>

diff --git a/src/filters/FullPoseEstimator.cpp b/src/filters/FullPoseEstimator.cpp
@@ -1,6 +1,6 @@
 #include "FullPoseEstimator.h"
 
-#include "../Util.h"
+#include "../utils/transform.h"
 #include "../navtypes.h"
 
 #include <functional>

diff --git a/src/filters/PoseEstimator.cpp b/src/filters/PoseEstimator.cpp
@@ -1,6 +1,6 @@
 #include "PoseEstimator.h"
 
-#include "../Util.h"
+#include "../utils/transform.h"
 #include "../navtypes.h"
 
 using namespace navtypes;

diff --git a/src/filters/PoseEstimatorLinear.cpp b/src/filters/PoseEstimatorLinear.cpp
@@ -1,6 +1,6 @@
 #include "PoseEstimatorLinear.h"
 
-#include "../Util.h"
+#include "../utils/transform.h"
 
 using util::toPose;
 using util::toTransform;

diff --git a/src/filters/pose_graph/friendly_graph.cpp b/src/filters/pose_graph/friendly_graph.cpp
@@ -3,7 +3,7 @@
 
 #include "../../Constants.h"
 #include "../../navtypes.h"
-#include "../../Util.h"
+#include "../../utils/transform.h"
 
 #include <iostream>
 #include <vector>

diff --git a/src/kinematics/DiffDriveKinematics.cpp b/src/kinematics/DiffDriveKinematics.cpp
@@ -1,6 +1,6 @@
 #include "DiffDriveKinematics.h"
 
-#include "../Util.h"
+#include "../utils/transform.h"
 using namespace navtypes;
 using util::toTransformRotateFirst;
 

diff --git a/src/kinematics/SwerveDriveKinematics.cpp b/src/kinematics/SwerveDriveKinematics.cpp
@@ -1,6 +1,6 @@
 #include "SwerveDriveKinematics.h"
 
-#include "../Util.h"
+#include "../utils/transform.h"
 
 #include <Eigen/QR>
 namespace kinematics {

diff --git a/src/planning/plan.cpp b/src/planning/plan.cpp
@@ -2,7 +2,8 @@
 #include "plan.h"
 
 #include "../Constants.h"
-#include "../Util.h"
+#include "../utils/transform.h"
+#include "../utils/ScopedTimer.h"
 #include "../log.h"
 
 #include <iostream>

diff --git a/src/world_interface/data.h b/src/world_interface/data.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include "../Util.h"
 #include "../navtypes.h"
 
 #include <bitset>

diff --git a/src/world_interface/kinematic_common_interface.cpp b/src/world_interface/kinematic_common_interface.cpp
@@ -1,6 +1,6 @@
 #include "../Constants.h"
 #include "../Globals.h"
-#include "../Util.h"
+#include "../utils/transform.h"
 #include "../kinematics/DiffDriveKinematics.h"
 #include "../log.h"
 #include "../navtypes.h"

diff --git a/src/world_interface/real_world_interface.cpp b/src/world_interface/real_world_interface.cpp
@@ -3,7 +3,6 @@
 #include "../CAN/CANUtils.h"
 #include "../Constants.h"
 #include "../Globals.h"
-#include "../Util.h"
 #include "../ardupilot/ArduPilotInterface.h"
 #include "../camera/Camera.h"
 #include "../gps/usb_gps/read_usb_gps.h"

diff --git a/src/world_interface/simulator_interface.cpp b/src/world_interface/simulator_interface.cpp
@@ -1,6 +1,7 @@
 #include "../Constants.h"
 #include "../Globals.h"
-#include "../Util.h"
+#include "../utils/transform.h"
+#include "../utils/core.h"
 #include "../ar/read_landmarks.h"
 #include "../base64/base64_img.h"
 #include "../camera/Camera.h"

diff --git a/tests/util/UtilTest.cpp b/tests/util/UtilTest.cpp
@@ -2,8 +2,6 @@
 
 #include <chrono>
 
-#include "../../src/Util.h"
-
 using namespace Catch::literals;
 using namespace util;
 using namespace std::chrono_literals;

diff --git a/tests/worldmap/GlobalMapTest.cpp b/tests/worldmap/GlobalMapTest.cpp
@@ -1,6 +1,5 @@
 #include "../../src/worldmap/GlobalMap.h"
 #include "../../src/navtypes.h"
-#include "../../src/Util.h"
 
 #include <iostream>
 #include <cmath>

diff --git a/tests/worldmap/TrICPTest.cpp b/tests/worldmap/TrICPTest.cpp
@@ -1,5 +1,4 @@
 #include "../../src/worldmap/TrICP.h"
-#include "../../src/Util.h"
 
 #include <Eigen/LU>
 #include <iostream>