Merge pull request RobotLocomotion#3958 from jwnimmer-tri/system1-dea…

…dwood Remove System1 deadwood
qingfengpu001 · Oct 31, 2016 · a72c686 · a72c686
2 parents 014bf73 + ab45ff7
commit a72c686
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Showing 11 changed files with 7 additions and 107 deletions.
diff --git a/drake/automotive/lcm_tap.h b/drake/automotive/lcm_tap.h
diff --git a/drake/examples/kuka_iiwa_arm/test/kuka_iiwa_dynamics_test.cc b/drake/examples/kuka_iiwa_arm/test/kuka_iiwa_dynamics_test.cc
@@ -6,8 +6,8 @@
 #include "drake/examples/kuka_iiwa_arm/iiwa_simulation.h"
 #include "drake/system1/Simulation.h"
 #include "drake/system1/cascade_system.h"
+#include "drake/system1/robot_state_tap.h"
 #include "drake/systems/plants/RigidBodySystem.h"
-#include "drake/systems/plants/robot_state_tap.h"
 
 using drake::CascadeSystem;
 using drake::RigidBodySystem;

diff --git a/drake/examples/kuka_iiwa_arm/test/kuka_iiwa_gravity_compensated_position_control_test.cc b/drake/examples/kuka_iiwa_arm/test/kuka_iiwa_gravity_compensated_position_control_test.cc
@@ -7,8 +7,8 @@
 #include "drake/system1/Simulation.h"
 #include "drake/system1/cascade_system.h"
 #include "drake/system1/gravity_compensated_pd_position_control_system.h"
+#include "drake/system1/robot_state_tap.h"
 #include "drake/systems/plants/RigidBodySystem.h"
-#include "drake/systems/plants/robot_state_tap.h"
 
 using drake::AffineSystem;
 using drake::CascadeSystem;

diff --git a/drake/examples/kuka_iiwa_arm/test/kuka_iiwa_gravity_compensated_torque_control_test.cc b/drake/examples/kuka_iiwa_arm/test/kuka_iiwa_gravity_compensated_torque_control_test.cc
@@ -7,7 +7,7 @@
 #include "drake/system1/Simulation.h"
 #include "drake/system1/cascade_system.h"
 #include "drake/system1/gravity_compensated_system.h"
-#include "drake/systems/plants/robot_state_tap.h"
+#include "drake/system1/robot_state_tap.h"
 
 using drake::AffineSystem;
 using drake::GravityCompensatedSystem;

diff --git a/drake/examples/kuka_iiwa_arm/test/kuka_iiwa_pd_control_test.cc b/drake/examples/kuka_iiwa_arm/test/kuka_iiwa_pd_control_test.cc
@@ -7,8 +7,8 @@
 #include "drake/system1/Simulation.h"
 #include "drake/system1/cascade_system.h"
 #include "drake/system1/pd_control_system.h"
+#include "drake/system1/robot_state_tap.h"
 #include "drake/systems/plants/RigidBodySystem.h"
-#include "drake/systems/plants/robot_state_tap.h"
 
 using drake::AffineSystem;
 using Eigen::MatrixXd;

diff --git a/drake/solvers/trajectoryOptimization/test/trajectory_optimization_test.cc b/drake/solvers/trajectoryOptimization/test/trajectory_optimization_test.cc
@@ -5,7 +5,6 @@
 #include "drake/common/eigen_matrix_compare.h"
 #include "drake/solvers/trajectoryOptimization/direct_trajectory_optimization.h"
 #include "drake/systems/trajectories/PiecewisePolynomial.h"
-#include "drake/system1/vector.h"
 
 using std::vector;
 using Eigen::MatrixXd;

diff --git a/drake/system1/CMakeLists.txt b/drake/system1/CMakeLists.txt
@@ -9,7 +9,8 @@ drake_install_headers(
   simulation_options.h
   System.h
   vector.h
-  trajectory_logger.h)
+  trajectory_logger.h
+  robot_state_tap.h)
 
 if(lcm_FOUND)
   add_library_with_exports(LIB_NAME drakeLCMSystem SOURCE_FILES LCMSystem.cpp)

diff --git a/drake/systems/plants/robot_state_tap.h → drake/system1/robot_state_tap.h b/drake/systems/plants/robot_state_tap.h → drake/system1/robot_state_tap.h
diff --git a/drake/systems/plants/CMakeLists.txt b/drake/systems/plants/CMakeLists.txt
@@ -37,8 +37,7 @@ drake_install_headers(
   parser_common.h
   parser_sdf.h
   parser_urdf.h
-  rigid_body_loop.h
-  robot_state_tap.h)
+  rigid_body_loop.h)
 
 pods_install_pkg_config_file(drake-rbm
   LIBS -ldrakeRBM -ldrakeCollision -ldrakeJoints -ldrakeXMLUtil

diff --git a/drake/systems/plants/constraint/direct_collocation_constraint.h b/drake/systems/plants/constraint/direct_collocation_constraint.h
@@ -9,7 +9,6 @@
 #include "drake/solvers/constraint.h"
 #include "drake/systems/framework/context.h"
 #include "drake/systems/framework/system.h"
-#include "drake/system1/System.h"
 
 namespace drake {
 namespace systems {
@@ -62,40 +61,6 @@ class DRAKE_EXPORT DirectCollocationConstraint :
   int num_inputs_;
 };
 
-/// Implements a dynamic constraint which uses the dynamics function
-/// of a system.
-template <typename System>
-class SystemDirectCollocationConstraint : public DirectCollocationConstraint {
- public:
-  // TODO(sam.creasey) Should this be a const bare ptr?
-  explicit SystemDirectCollocationConstraint(std::shared_ptr<System> system)
-      : DirectCollocationConstraint(drake::getNumStates(*system),
-                          drake::getNumInputs(*system)),
-        system_(system) {}
-
-  explicit SystemDirectCollocationConstraint(
-      const SystemDirectCollocationConstraint& other) = delete;
-  SystemDirectCollocationConstraint& operator=(
-      const SystemDirectCollocationConstraint& other) = delete;
-  explicit SystemDirectCollocationConstraint(
-      SystemDirectCollocationConstraint&& other) = delete;
-  SystemDirectCollocationConstraint& operator=(
-      SystemDirectCollocationConstraint&& other) = delete;
-
- private:
-  void dynamics(const TaylorVecXd& state,
-                const TaylorVecXd& input,
-                TaylorVecXd* xdot) const override {
-    typename System::template StateVector<TaylorVarXd> x = state;
-    typename System::template InputVector<TaylorVarXd> u = input;
-    TaylorVarXd t(1);
-    t = 0;
-    *xdot = toEigen(system_->dynamics(t, x, u));
-  }
-
-  std::shared_ptr<System> system_;
-};
-
 /// Implements a dynamic constraint which uses the continuous dynamics
 /// of a system.
 class DRAKE_EXPORT System2DirectCollocationConstraint

diff --git a/drake/systems/plants/test/testIK.cpp b/drake/systems/plants/test/testIK.cpp
@@ -9,7 +9,6 @@
 #include "drake/systems/plants/RigidBodyIK.h"
 #include "drake/systems/plants/RigidBodyTree.h"
 #include "drake/systems/plants/constraint/RigidBodyConstraint.h"
-#include "drake/system1/vector.h"
 
 using Eigen::Vector2d;
 using Eigen::Vector3d;