Merge pull request RobotLocomotion#9989 from jwnimmer-tri/attic-diffik

manipulation/planner: Move DiffIK out of the attic
Kun-Son · Nov 10, 2018 · 4726e49 · 4726e49
2 parents a48a1fd + 4545a7a
commit 4726e49
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Showing 6 changed files with 51 additions and 27 deletions.
diff --git a/attic/manipulation/planner/BUILD.bazel b/attic/manipulation/planner/BUILD.bazel
@@ -16,7 +16,6 @@ drake_cc_package_library(
     name = "planner",
     deps = [
         ":constraint_relaxing_ik",
-        ":differential_inverse_kinematics",
         ":robot_plan_interpolator",
     ],
 )
@@ -33,18 +32,6 @@ drake_cc_library(
     ],
 )
 
-drake_cc_library(
-    name = "differential_inverse_kinematics",
-    srcs = ["differential_inverse_kinematics.cc"],
-    hdrs = ["differential_inverse_kinematics.h"],
-    deps = [
-        "//attic/multibody/parsers",
-        "//multibody:rigid_body_tree",
-        "//multibody/multibody_tree/multibody_plant",
-        "//solvers:mathematical_program",
-    ],
-)
-
 drake_cc_library(
     name = "robot_plan_interpolator",
     srcs = ["robot_plan_interpolator.cc"],
@@ -79,20 +66,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "differential_inverse_kinematics_test",
-    data = [
-        "//manipulation/models/iiwa_description:models",
-    ],
-    deps = [
-        ":differential_inverse_kinematics",
-        "//attic/manipulation/util:world_sim_tree_builder",
-        "//common/test_utilities:eigen_matrix_compare",
-        "//examples/kuka_iiwa_arm:iiwa_common",
-        "//multibody/multibody_tree/parsing",
-    ],
-)
-
 drake_cc_googletest(
     name = "robot_plan_interpolator_test",
     data = [

diff --git a/manipulation/planner/BUILD.bazel b/manipulation/planner/BUILD.bazel
@@ -0,0 +1,50 @@
+# -*- python -*-
+
+load(
+    "@drake//tools/skylark:drake_cc.bzl",
+    "drake_cc_googletest",
+    "drake_cc_library",
+    "drake_cc_package_library",
+)
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+package(
+    default_visibility = ["//visibility:public"],
+)
+
+drake_cc_package_library(
+    name = "planner",
+    deps = [
+        ":differential_inverse_kinematics",
+    ],
+)
+
+drake_cc_library(
+    name = "differential_inverse_kinematics",
+    srcs = ["differential_inverse_kinematics.cc"],
+    hdrs = ["differential_inverse_kinematics.h"],
+    deps = [
+        "//attic/multibody:rigid_body_tree",
+        "//attic/multibody/parsers",
+        "//multibody/multibody_tree/multibody_plant",
+        "//solvers:mathematical_program",
+    ],
+)
+
+# === test/ ===
+
+drake_cc_googletest(
+    name = "differential_inverse_kinematics_test",
+    data = [
+        "//manipulation/models/iiwa_description:models",
+    ],
+    deps = [
+        ":differential_inverse_kinematics",
+        "//attic/manipulation/util:world_sim_tree_builder",
+        "//common/test_utilities:eigen_matrix_compare",
+        "//examples/kuka_iiwa_arm:iiwa_common",
+        "//multibody/multibody_tree/parsing",
+    ],
+)
+
+add_lint_tests()
diff --git a/...lanner/differential_inverse_kinematics.cc → ...lanner/differential_inverse_kinematics.cc b/...lanner/differential_inverse_kinematics.cc → ...lanner/differential_inverse_kinematics.cc
diff --git a/...planner/differential_inverse_kinematics.h → ...planner/differential_inverse_kinematics.h b/...planner/differential_inverse_kinematics.h → ...planner/differential_inverse_kinematics.h
diff --git a/...t/differential_inverse_kinematics_test.cc → ...t/differential_inverse_kinematics_test.cc b/...t/differential_inverse_kinematics_test.cc → ...t/differential_inverse_kinematics_test.cc
diff --git a/tools/install/libdrake/build_components.bzl b/tools/install/libdrake/build_components.bzl
@@ -57,6 +57,7 @@ LIBDRAKE_COMPONENTS = [
     "//geometry/query_results",
     "//lcm",
     "//manipulation/perception",
+    "//manipulation/planner",
     "//manipulation/schunk_wsg",
     "//manipulation/util",
     "//math",