Merge pull request RobotLocomotion#3159 from jwnimmer-tri/cars-rename1

Introduce Vector1 names for Cars vectors
Raptura · Aug 16, 2016 · 48ebb0c · 48ebb0c
2 parents 28258ed + 0801806
commit 48ebb0c
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Showing 15 changed files with 76 additions and 68 deletions.
diff --git a/drake/examples/Cars/car_sim_lcm.cc b/drake/examples/Cars/car_sim_lcm.cc
@@ -1,5 +1,4 @@
 #include "drake/examples/Cars/car_simulation.h"
-#include "drake/examples/Cars/gen/driving_command.h"
 #include "drake/systems/LCMSystem.h"
 #include "drake/systems/LinearSystem.h"
 #include "drake/systems/pd_control_system.h"

diff --git a/drake/examples/Cars/car_simulation.cc b/drake/examples/Cars/car_simulation.cc
@@ -3,8 +3,6 @@
 #include <cstdlib>
 
 #include "drake/examples/Cars/curve2.h"
-#include "drake/examples/Cars/gen/euler_floating_joint_state.h"
-#include "drake/examples/Cars/gen/simple_car_state.h"
 #include "drake/examples/Cars/trajectory_car.h"
 
 using drake::AffineSystem;
@@ -138,7 +136,7 @@ void AddFlatTerrain(const std::shared_ptr<RigidBodyTree>& rigid_body_tree,
 }
 
 std::shared_ptr<CascadeSystem<
-    Gain<DrivingCommand, PDControlSystem<RigidBodySystem>::InputVector>,
+    Gain<DrivingCommand1, PDControlSystem<RigidBodySystem>::InputVector>,
     PDControlSystem<RigidBodySystem>>>
 CreateVehicleSystem(std::shared_ptr<RigidBodySystem> rigid_body_sys) {
   const auto& tree = rigid_body_sys->getRigidBodyTree();
@@ -202,9 +200,10 @@ CreateVehicleSystem(std::shared_ptr<RigidBodySystem> rigid_body_sys) {
 
   auto vehicle_sys = cascade(
       std::allocate_shared<
-          Gain<DrivingCommand, PDControlSystem<RigidBodySystem>::InputVector>>(
-          Eigen::aligned_allocator<Gain<
-              DrivingCommand, PDControlSystem<RigidBodySystem>::InputVector>>(),
+          Gain<DrivingCommand1, PDControlSystem<RigidBodySystem>::InputVector>>(
+          Eigen::aligned_allocator<
+              Gain<DrivingCommand1,
+                   PDControlSystem<RigidBodySystem>::InputVector>>(),
           map_driving_cmd_to_x_d),
       vehicle_with_pd);
 
@@ -274,30 +273,29 @@ std::shared_ptr<TrajectoryCar> CreateTrajectoryCarSystem(int index) {
   return std::make_shared<TrajectoryCar>(curve, kSpeed, start_time);
 }
 
-std::shared_ptr<AffineSystem<
-  NullVector, SimpleCarState, EulerFloatingJointState>>
+std::shared_ptr<
+    AffineSystem<NullVector, SimpleCarState1, EulerFloatingJointState1>>
 CreateSimpleCarVisualizationAdapter() {
-  const int insize = SimpleCarState<double>().size();
-  const int outsize = EulerFloatingJointState<double>().size();
+  const int insize = SimpleCarState1<double>().size();
+  const int outsize = EulerFloatingJointState1<double>().size();
   MatrixXd D;
   D.setZero(outsize, insize);
   D(EulerFloatingJointStateIndices::kX, SimpleCarStateIndices::kX) = 1;
   D(EulerFloatingJointStateIndices::kY, SimpleCarStateIndices::kY) = 1;
   D(EulerFloatingJointStateIndices::kYaw, SimpleCarStateIndices::kHeading) = 1;
-  EulerFloatingJointState<double> y0;
+  EulerFloatingJointState1<double> y0;
   return std::make_shared<
     AffineSystem<
         NullVector,
-        SimpleCarState,
-        EulerFloatingJointState>>(
+        SimpleCarState1,
+        EulerFloatingJointState1>>(
             MatrixXd::Zero(0, 0),
             MatrixXd::Zero(0, insize),
             VectorXd::Zero(0),
             MatrixXd::Zero(outsize, 0),
             D, toEigen(y0));
 }
 
-
 SimulationOptions GetCarSimulationDefaultOptions() {
   SimulationOptions result;
   result.initial_step_size = 5e-3;

diff --git a/drake/examples/Cars/car_simulation.h b/drake/examples/Cars/car_simulation.h
@@ -6,9 +6,7 @@
 #include <Eigen/Geometry>
 
 #include "drake/drakeCars_export.h"
-#include "drake/examples/Cars/gen/driving_command.h"
-#include "drake/examples/Cars/gen/euler_floating_joint_state.h"
-#include "drake/examples/Cars/gen/simple_car_state.h"
+#include "drake/examples/Cars/system1_cars_vectors.h"
 #include "drake/examples/Cars/trajectory_car.h"
 #include "drake/systems/LinearSystem.h"
 #include "drake/systems/Simulation.h"
@@ -113,11 +111,10 @@ void AddFlatTerrain(const std::shared_ptr<RigidBodyTree>& rigid_body_tree,
  */
 DRAKECARS_EXPORT
 std::shared_ptr<CascadeSystem<
-    Gain<DrivingCommand, PDControlSystem<RigidBodySystem>::InputVector>,
+    Gain<DrivingCommand1, PDControlSystem<RigidBodySystem>::InputVector>,
     PDControlSystem<RigidBodySystem>>>
 CreateVehicleSystem(std::shared_ptr<RigidBodySystem> rigid_body_sys);
 
-
 /**
  * Creates a TrajectoryCar system with a fixed trajectory.
  * The details of the trajectory are not documented / promised by this API.
@@ -133,7 +130,7 @@ std::shared_ptr<TrajectoryCar> CreateTrajectoryCarSystem(int index);
  */
 DRAKECARS_EXPORT
 std::shared_ptr<drake::AffineSystem<
-  drake::NullVector, SimpleCarState, EulerFloatingJointState>>
+  drake::NullVector, SimpleCarState1, EulerFloatingJointState1>>
 CreateSimpleCarVisualizationAdapter();
 
 /**

diff --git a/drake/examples/Cars/demo_multi_car.cc b/drake/examples/Cars/demo_multi_car.cc
@@ -14,7 +14,6 @@
 #include "drake/systems/plants/RigidBodyTree.h"
 
 #include "drake/examples/Cars/car_simulation.h"
-#include "drake/examples/Cars/gen/euler_floating_joint_state.h"
 #include "drake/examples/Cars/trajectory_car.h"
 
 using drake::AffineSystem;

diff --git a/drake/examples/Cars/multi_car_sim_lcm.cc b/drake/examples/Cars/multi_car_sim_lcm.cc
@@ -1,5 +1,4 @@
 #include "drake/examples/Cars/car_simulation.h"
-#include "drake/examples/Cars/gen/driving_command.h"
 #include "drake/common/drake_path.h"
 #include "drake/systems/LCMSystem.h"
 #include "drake/systems/LinearSystem.h"

diff --git a/drake/examples/Cars/run_demo_multi_car.sh b/drake/examples/Cars/run_demo_multi_car.sh
@@ -23,11 +23,12 @@ me=$(readlink -f $0)
 mydir=$(dirname $0)
 DRAKE=$(readlink -f $mydir/../..)
 DRAKE_DIST=$(readlink -f $DRAKE/..)
+DRAKE_BUILD=${DRAKE_BUILD:-$DRAKE_DIST/build}
 
-$DRAKE_DIST/build/install/bin/bot-spy &
-$DRAKE_DIST/build/install/bin/drake-visualizer &
+$DRAKE_BUILD/install/bin/bot-spy &
+$DRAKE_BUILD/install/bin/drake-visualizer &
 sleep 1  # Wait, to be sure drake-visualizer sees the load_robot message.
-$DRAKE_DIST/build/drake/bin/demo_multi_car $1 &
+$DRAKE_BUILD/drake/bin/demo_multi_car $1 &
 
 wait
 

diff --git a/drake/examples/Cars/simple_car-inl.h b/drake/examples/Cars/simple_car-inl.h
@@ -13,8 +13,6 @@
 #include <Eigen/Geometry>
 
 #include "drake/common/drake_assert.h"
-#include "drake/examples/Cars/gen/driving_command.h"
-#include "drake/examples/Cars/gen/simple_car_state.h"
 
 namespace drake {
 

diff --git a/drake/examples/Cars/simple_car.h b/drake/examples/Cars/simple_car.h
@@ -1,8 +1,7 @@
 #pragma once
 
 #include "drake/drakeCars_export.h"
-#include "drake/examples/Cars/gen/driving_command.h"
-#include "drake/examples/Cars/gen/simple_car_state.h"
+#include "drake/examples/Cars/system1_cars_vectors.h"
 #include "lcmtypes/drake/lcmt_simple_car_config_t.hpp"
 
 namespace drake {
@@ -56,11 +55,11 @@ class DRAKECARS_EXPORT SimpleCar {
   //@{
 
   template <typename ScalarType>
-  using StateVector = SimpleCarState<ScalarType>;
+  using StateVector = SimpleCarState1<ScalarType>;
   template <typename ScalarType>
-  using InputVector = DrivingCommand<ScalarType>;
+  using InputVector = DrivingCommand1<ScalarType>;
   template <typename ScalarType>
-  using OutputVector = SimpleCarState<ScalarType>;
+  using OutputVector = SimpleCarState1<ScalarType>;
 
   template <typename ScalarType>
   StateVector<ScalarType> dynamics(const ScalarType& time,

diff --git a/drake/examples/Cars/simple_car_demo.cc b/drake/examples/Cars/simple_car_demo.cc
@@ -5,7 +5,6 @@
 #include "drake/common/drake_path.h"
 
 #include "drake/examples/Cars/car_simulation.h"
-#include "drake/examples/Cars/gen/euler_floating_joint_state.h"
 #include "drake/examples/Cars/lcm_tap.h"
 #include "drake/systems/LCMSystem.h"
 #include "drake/systems/LinearSystem.h"
@@ -35,20 +34,20 @@ int do_main(int argc, const char* argv[]) {
       drake::GetDrakePath() + "/examples/Cars/models/boxcar.urdf");
 
   auto viz =
-      std::make_shared<BotVisualizer<EulerFloatingJointState> >(
+      std::make_shared<BotVisualizer<EulerFloatingJointState1>>(
           lcm, tree);
 
   // Make some taps to publish intermediate states to LCM.
-  auto car_tap = std::make_shared<LcmTap<SimpleCarState> >(lcm);
-  auto adapter_tap = std::make_shared<LcmTap<EulerFloatingJointState> >(lcm);
+  auto car_tap = std::make_shared<LcmTap<SimpleCarState1>>(lcm);
+  auto adapter_tap = std::make_shared<LcmTap<EulerFloatingJointState1>>(lcm);
 
   // Assemble car, adapter, and visualizer, with intervening taps.
   auto car_tapped = cascade(car, car_tap);
   auto adapter_tapped = cascade(adapter, adapter_tap);
   auto adapt_viz = cascade(adapter_tapped, viz);
   auto sys = cascade(car_tapped, adapt_viz);
 
-  SimpleCarState<double> initial_state;
+  SimpleCarState1<double> initial_state;
   runLCM(sys, lcm, 0, std::numeric_limits<double>::infinity(), initial_state);
 
   return 0;

diff --git a/drake/examples/Cars/simple_car_demo.sh b/drake/examples/Cars/simple_car_demo.sh
@@ -21,12 +21,13 @@ me=$(readlink -f $0)
 mydir=$(dirname $0)
 DRAKE=$(readlink -f $mydir/../..)
 DRAKE_DIST=$(readlink -f $DRAKE/..)
+DRAKE_BUILD=${DRAKE_BUILD:-$DRAKE_DIST/build}
 
-$DRAKE_DIST/build/install/bin/lcm-logger &
-$DRAKE_DIST/build/install/bin/bot-spy &
-$DRAKE_DIST/build/install/bin/drake-visualizer &
+$DRAKE_BUILD/install/bin/lcm-logger &
+$DRAKE_BUILD/install/bin/bot-spy &
+$DRAKE_BUILD/install/bin/drake-visualizer &
 sleep 1  # Wait, to be sure drake-visualizer sees the load_robot message.
-$DRAKE_DIST/build/drake/bin/simple_car_demo &
+$DRAKE_BUILD/drake/bin/simple_car_demo &
 $mydir/steering_command_driver.py &
 
 wait

diff --git a/drake/examples/Cars/system1_cars_vectors.h b/drake/examples/Cars/system1_cars_vectors.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "drake/examples/Cars/gen/driving_command.h"
+#include "drake/examples/Cars/gen/euler_floating_joint_state.h"
+#include "drake/examples/Cars/gen/simple_car_state.h"
+#include "drake/systems/vector.h"
+
+namespace drake {
+
+// TODO(jwnimmer-tri) These renamings are temporary, in order to support the
+// incremental porting of Cars from System1 to System2.
+
+template <typename T>
+using DrivingCommand1 = class DrivingCommand<T>;
+template <typename T>
+using EulerFloatingJointState1 = EulerFloatingJointState<T>;
+template <typename T>
+using SimpleCarState1 = class SimpleCarState<T>;
+
+}  // namespace drake
diff --git a/drake/examples/Cars/test/car_simulation_test.cc b/drake/examples/Cars/test/car_simulation_test.cc
@@ -3,8 +3,6 @@
 #include "gtest/gtest.h"
 
 #include "drake/examples/Cars/car_simulation.h"
-#include "drake/examples/Cars/gen/euler_floating_joint_state.h"
-#include "drake/examples/Cars/gen/simple_car_state.h"
 
 namespace drake {
 namespace examples {
@@ -18,8 +16,8 @@ GTEST_TEST(CarSimulationTest, SimpleCarVisualizationAdapter) {
 
   const double time = 0.0;
   const drake::NullVector<double> state_vector{};
-  SimpleCarState<double> input_vector{};
-  EulerFloatingJointState<double> output_vector{};
+  SimpleCarState1<double> input_vector{};
+  EulerFloatingJointState1<double> output_vector{};
   output_vector = dut->output(time, state_vector, input_vector);
 
   EXPECT_DOUBLE_EQ(output_vector.x(), 0.0);

diff --git a/drake/examples/Cars/test/simple_car_scalartype_test.cc b/drake/examples/Cars/test/simple_car_scalartype_test.cc
@@ -37,12 +37,12 @@ GTEST_TEST(SimpleCarScalarTypeTest, CompileTest) {
   const SimpleCar dut;
 
   const MST time_zero{};
-  const SimpleCarState<MST> state_zeros{};
-  const DrivingCommand<MST> input_zeros{};
+  const SimpleCarState1<MST> state_zeros{};
+  const DrivingCommand1<MST> input_zeros{};
 
-  const SimpleCarState<MST> dynamics =
+  const SimpleCarState1<MST> dynamics =
       dut.dynamics(time_zero, state_zeros, input_zeros);
-  const SimpleCarState<MST> output =
+  const SimpleCarState1<MST> output =
       dut.output(time_zero, state_zeros, input_zeros);
 
   // If we compiled, declare victory.

diff --git a/drake/examples/Cars/test/simple_car_test.cc b/drake/examples/Cars/test/simple_car_test.cc
@@ -10,6 +10,7 @@
 #include "drake/systems/simulation_options.h"
 #include "drake/systems/vector.h"
 #include "drake/util/eigen_matrix_compare.h"
+#include "drake/examples/Cars/system1_cars_vectors.h"
 
 using drake::util::MatrixCompareType;
 using drake::NullVector;
@@ -81,10 +82,10 @@ class HistorySystem {
 
 GTEST_TEST(SimpleCarTest, ZerosIn) {
   SimpleCar dut;
-  SimpleCarState<double> state_zeros;
-  DrivingCommand<double> input_zeros;
+  SimpleCarState1<double> state_zeros;
+  DrivingCommand1<double> input_zeros;
 
-  SimpleCarState<double> rates =
+  SimpleCarState1<double> rates =
       dut.dynamics(0., state_zeros, input_zeros);
 
   const double tolerance = 1e-8;
@@ -93,16 +94,16 @@ GTEST_TEST(SimpleCarTest, ZerosIn) {
 }
 
 GTEST_TEST(SimpleCarTest, Accelerating) {
-  DrivingCommand<double> max_throttle;
+  DrivingCommand1<double> max_throttle;
   max_throttle.set_throttle(1.);
 
   auto car = std::make_shared<SimpleCar>();
-  SimpleCarState<double> initial_state;
+  SimpleCarState1<double> initial_state;
   auto history_system =
-      std::make_shared<HistorySystem<SimpleCarState>>(initial_state);
+      std::make_shared<HistorySystem<SimpleCarState1>>(initial_state);
   auto lead_foot = drake::cascade(
       drake::cascade(
-          std::make_shared<ConstantInputSystem<DrivingCommand>>(
+          std::make_shared<ConstantInputSystem<DrivingCommand1>>(
               max_throttle),
           car),
       history_system);
@@ -139,19 +140,19 @@ GTEST_TEST(SimpleCarTest, Accelerating) {
 }
 
 GTEST_TEST(SimpleCarTest, Braking) {
-  DrivingCommand<double> max_brake;
+  DrivingCommand1<double> max_brake;
   max_brake.set_brake(1.);
 
   auto car = std::make_shared<SimpleCar>();
-  SimpleCarState<double> initial_state;
+  SimpleCarState1<double> initial_state;
   double speed = 10.;
   initial_state.set_velocity(speed);
 
   auto history_system =
-      std::make_shared<HistorySystem<SimpleCarState>>(initial_state);
+      std::make_shared<HistorySystem<SimpleCarState1>>(initial_state);
   auto panic_stop = drake::cascade(
       drake::cascade(
-          std::make_shared<ConstantInputSystem<DrivingCommand>>(
+          std::make_shared<ConstantInputSystem<DrivingCommand1>>(
               max_brake),
           car),
       history_system);
@@ -182,18 +183,18 @@ GTEST_TEST(SimpleCarTest, Braking) {
 }
 
 GTEST_TEST(SimpleCarTest, Steering) {
-  DrivingCommand<double> left(Eigen::Vector3d(M_PI / 2, 0., 0.));
+  DrivingCommand1<double> left(Eigen::Vector3d(M_PI / 2, 0., 0.));
 
   auto car = std::make_shared<SimpleCar>();
-  SimpleCarState<double> initial_state;
+  SimpleCarState1<double> initial_state;
   double speed = 40.;
   initial_state.set_velocity(speed);
 
   auto history_system =
-      std::make_shared<HistorySystem<SimpleCarState>>(initial_state);
+      std::make_shared<HistorySystem<SimpleCarState1>>(initial_state);
   auto brickyard = drake::cascade(
       drake::cascade(
-          std::make_shared<ConstantInputSystem<DrivingCommand>>(left),
+          std::make_shared<ConstantInputSystem<DrivingCommand1>>(left),
           car),
       history_system);
 

diff --git a/drake/examples/Cars/trajectory_car.h b/drake/examples/Cars/trajectory_car.h
@@ -4,8 +4,7 @@
 
 #include "drake/drakeCars_export.h"
 #include "drake/examples/Cars/curve2.h"
-#include "drake/examples/Cars/gen/simple_car_state.h"
-#include "drake/systems/vector.h"
+#include "drake/examples/Cars/system1_cars_vectors.h"
 
 namespace drake {
 
@@ -48,7 +47,7 @@ class DRAKECARS_EXPORT TrajectoryCar {
   template <typename ScalarType>
   using InputVector = drake::NullVector<ScalarType>;
   template <typename ScalarType>
-  using OutputVector = SimpleCarState<ScalarType>;
+  using OutputVector = SimpleCarState1<ScalarType>;
 
   template <typename ScalarType>
   StateVector<ScalarType> dynamics(const ScalarType& time,