Remove __has_include statements (moveit#1481)

KanRobotics · Aug 7, 2022 · 0b5a7fa · 0b5a7fa
1 parent 3dcd74f
commit 0b5a7fa
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diff --git a/moveit_core/collision_detection/src/collision_tools.cpp b/moveit_core/collision_detection/src/collision_tools.cpp
@@ -37,12 +37,7 @@
 #include <moveit/collision_detection/collision_tools.h>
 #include <rclcpp/clock.hpp>
 #include <rclcpp/time.hpp>
-
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 namespace collision_detection
 {

diff --git a/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp
@@ -39,11 +39,7 @@
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/time.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <memory>
 #include <mutex>
 

diff --git a/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
@@ -40,11 +40,7 @@
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/time.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <moveit/collision_distance_field/collision_env_distance_field.h>
 #include <moveit/collision_distance_field/collision_common_distance_field.h>
 #include <moveit/distance_field/propagation_distance_field.h>

diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
@@ -36,11 +36,7 @@
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <kdl_parser/kdl_parser.hpp>
-#if __has_include(<tf2_kdl/tf2_kdl.hpp>)
 #include <tf2_kdl/tf2_kdl.hpp>
-#else
-#include <tf2_kdl/tf2_kdl.h>
-#endif
 #include <algorithm>
 #include <cmath>
 

diff --git a/moveit_core/distance_field/src/distance_field.cpp b/moveit_core/distance_field/src/distance_field.cpp
@@ -40,11 +40,7 @@
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/time.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <octomap/octomap.h>
 #include <octomap/OcTree.h>
 

diff --git a/moveit_core/distance_field/test/test_distance_field.cpp b/moveit_core/distance_field/test/test_distance_field.cpp
@@ -40,11 +40,7 @@
 #include <moveit/distance_field/propagation_distance_field.h>
 #include <moveit/distance_field/find_internal_points.h>
 #include <geometric_shapes/body_operations.h>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <octomap/octomap.h>
 #include <memory>
 

diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -43,11 +43,7 @@
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/time.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <functional>
 #include <limits>
 #include <math.h>

diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -43,16 +43,8 @@
 #include <rclcpp/parameter_value.hpp>
 
 #include "rclcpp/node.hpp"
-#if __has_include(<tf2_geometry_msgs/tf2_geometry_msgs.hpp>)
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#endif
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 using namespace moveit::core;
 

diff --git a/moveit_core/kinematic_constraints/test/test_constraints.cpp b/moveit_core/kinematic_constraints/test/test_constraints.cpp
@@ -38,11 +38,7 @@
 #include <gtest/gtest.h>
 #include <urdf_parser/urdf_parser.h>
 #include <fstream>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <math.h>
 #include <moveit/utils/robot_model_test_utils.h>
 

diff --git a/moveit_core/kinematic_constraints/test/test_orientation_constraints.cpp b/moveit_core/kinematic_constraints/test/test_orientation_constraints.cpp
@@ -38,13 +38,8 @@
 #include <gtest/gtest.h>
 
 #include <urdf_parser/urdf_parser.h>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#endif
 #include <math.h>
 
 #include <moveit/utils/robot_model_test_utils.h>

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -48,11 +48,7 @@
 #include <octomap_msgs/conversions.h>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <memory>
 #include <set>
 

diff --git a/moveit_core/planning_scene/test/test_collision_objects.cpp b/moveit_core/planning_scene/test/test_collision_objects.cpp
@@ -43,11 +43,7 @@
 #include <sstream>
 #include <string>
 
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 namespace
 {

diff --git a/moveit_core/robot_state/src/conversions.cpp b/moveit_core/robot_state/src/conversions.cpp
@@ -39,11 +39,7 @@
 #include <geometric_shapes/shape_operations.h>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <string>
 
 namespace moveit

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
@@ -44,11 +44,7 @@
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/time.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <cassert>
 #include <functional>
 #include <moveit/macros/console_colors.h>

diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp
@@ -37,11 +37,7 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/robot_model_test_utils.h>
 #include <urdf_parser/urdf_parser.h>
-#if __has_include(<tf2_geometry_msgs/tf2_geometry_msgs.hpp>)
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#endif
 #include <gtest/gtest.h>
 #include <sstream>
 #include <algorithm>

diff --git a/moveit_core/robot_state/test/test_aabb.cpp b/moveit_core/robot_state/test/test_aabb.cpp
@@ -41,11 +41,7 @@
 #include <fstream>
 #include <string>
 #include <gtest/gtest.h>
-#if __has_include(<tf2_geometry_msgs/tf2_geometry_msgs.hpp>)
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#endif
 #include <tf2/LinearMath/Vector3.h>
 #include <moveit/utils/robot_model_test_utils.h>
 

diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
@@ -41,11 +41,7 @@
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/time.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <numeric>
 
 namespace robot_trajectory

diff --git a/moveit_core/transforms/src/transforms.cpp b/moveit_core/transforms/src/transforms.cpp
@@ -38,11 +38,7 @@
 #include <geometric_shapes/check_isometry.h>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <boost/algorithm/string/trim.hpp>
 
 namespace moveit

diff --git a/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp b/moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp
@@ -40,11 +40,7 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/planning_scene/planning_scene.h>
 #include <Eigen/Geometry.h>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <functional>
 
 namespace kinematics_constraint_aware

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -45,16 +45,8 @@
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_state/robot_state.h>
 #include <Eigen/Geometry>
-#if __has_include(<tf2_kdl/tf2_kdl.hpp>)
 #include <tf2_kdl/tf2_kdl.hpp>
-#else
-#include <tf2_kdl/tf2_kdl.h>
-#endif
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 using namespace moveit::core;
 

diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
@@ -37,11 +37,7 @@
 #include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
 #include <moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp>
 
-#if __has_include(<tf2_kdl/tf2_kdl.hpp>)
 #include <tf2_kdl/tf2_kdl.hpp>
-#else
-#include <tf2_kdl/tf2_kdl.h>
-#endif
 #include <tf2/transform_datatypes.h>
 
 #include <kdl_parser/kdl_parser.hpp>

diff --git a/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp b/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_plugin.cpp
@@ -38,11 +38,7 @@
 #include <kdl/chainfksolverpos_recursive.hpp>
 #include <kdl/chainiksolverpos_lma.hpp>
 
-#if __has_include(<tf2_kdl/tf2_kdl.hpp>)
 #include <tf2_kdl/tf2_kdl.hpp>
-#else
-#include <tf2_kdl/tf2_kdl.h>
-#endif
 #include <kdl_parser/kdl_parser.hpp>
 #include <kdl/frames_io.hpp>
 #include <kdl/kinfam_io.hpp>

diff --git a/moveit_kinematics/test/test_kinematics_plugin.cpp b/moveit_kinematics/test/test_kinematics_plugin.cpp
@@ -40,11 +40,7 @@
 #include <functional>
 #include <pluginlib/class_loader.hpp>
 #include <rclcpp/rclcpp.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 // MoveIt
 #include <moveit/kinematics_base/kinematics_base.h>

diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
@@ -38,21 +38,9 @@
 #include <chomp_motion_planner/chomp_planner.h>
 #include <chomp_motion_planner/chomp_trajectory.h>
 #include <moveit/robot_state/conversions.h>
-#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
-#include <tf2/LinearMath/Quaternion.hpp>
-#else
 #include <tf2/LinearMath/Quaternion.h>
-#endif
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
-#if __has_include(<tf2_geometry_msgs/tf2_geometry_msgs.hpp>)
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#endif
 
 #include <chrono>
 

diff --git a/moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp b/moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp
@@ -39,11 +39,7 @@
 
 #include <moveit/ompl_interface/detail/ompl_constraints.h>
 
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_planners_ompl.ompl_constraints");
 

diff --git a/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp
@@ -54,11 +54,7 @@
 
 #include <gtest/gtest.h>
 
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 #include <moveit/ompl_interface/planning_context_manager.h>
 #include <moveit/planning_scene/planning_scene.h>

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
@@ -37,11 +37,7 @@
 #include <algorithm>
 #include <memory>
 #include <math.h>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <moveit/planning_interface/planning_interface.h>
 
 namespace

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
@@ -36,15 +36,9 @@
 
 #include <moveit/planning_scene/planning_scene.h>
 #include <tf2/LinearMath/Quaternion.h>
-
 #include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#endif
 
 namespace
 {

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp
@@ -36,13 +36,8 @@
 
 #include <cassert>
 
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_kdl/tf2_kdl.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_kdl/tf2_kdl.h>
-#endif
 #include <boost/range/combine.hpp>
 
 #include <kdl/velocityprofile_trap.hpp>

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
@@ -46,13 +46,8 @@
 #include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#endif
 
 namespace pilz_industrial_motion_planner
 {