move folders

CMakeLists.txt

@@ -166,9 +166,9 @@ owds_add_ros_library(overworld_engine_common
 owds_add_library(overworld_glad External/src/glad.c)
 
 owds_add_library(overworld_graphics
+    src/Engine/Graphics/Common/Camera.cpp
+    src/Engine/Graphics/GLFW/CameraUpdater.cpp
     src/Engine/Graphics/GLFW/Window.cpp
-    src/Engine/Graphics/OpenGL/Camera.cpp
-    src/Engine/Graphics/OpenGL/CameraUpdater.cpp
     src/Engine/Graphics/OpenGL/Cubemap.cpp
     src/Engine/Graphics/OpenGL/PointShadow.cpp
     src/Engine/Graphics/OpenGL/Renderer.cpp

include/overworld/BasicTypes/Entity.h

@@ -10,7 +10,7 @@
 #include "overworld/BasicTypes/Shape.h"
 #include "overworld/Bullet/BulletClient.h"
 #include "overworld/Geometry/Pose.h"
-#include "overworld/Utility/CircularBuffer.h"
+#include "overworld/Utils/CircularBuffer.h"
 
 namespace owds {
 

include/overworld/Engine/Graphics/OpenGL/CameraUpdater.h → include/overworld/Engine/Graphics/GLFW/CameraUpdater.h

@@ -6,11 +6,11 @@
 #include <cstdint>
 #include <glm/vec2.hpp>
 
+#include "overworld/Engine/Graphics/Common/Camera.h"
 #include "overworld/Engine/Graphics/Common/CameraProjection.h"
 #include "overworld/Engine/Graphics/Common/CameraView.h"
 #include "overworld/Engine/Graphics/Common/ViewAntiAliasing.h"
-#include "overworld/Engine/Graphics/OpenGL/Camera.h"
-#include "overworld/Helper/GlmMath.h"
+#include "overworld/Utils/GlmMath.h"
 
 namespace owds {
 

include/overworld/Engine/Graphics/GLFW/Window.h

@@ -6,7 +6,7 @@
 #include <string>
 
 #include "overworld/Engine/Graphics/Common/WindowPlatformData.h"
-#include "overworld/Engine/Graphics/OpenGL/CameraUpdater.h"
+#include "overworld/Engine/Graphics/GLFW/CameraUpdater.h"
 
 class GLFWwindow;
 

include/overworld/Engine/Graphics/OpenGL/AmbientShadow.h

@@ -3,8 +3,8 @@
 
 #include <array>
 
-#include "overworld/Engine/Graphics/OpenGL/Camera.h"
-#include "overworld/Engine/Graphics/OpenGL/CameraUpdater.h"
+#include "overworld/Engine/Graphics/Common/Camera.h"
+#include "overworld/Engine/Graphics/GLFW/CameraUpdater.h"
 
 namespace owds {
   class Shader;

include/overworld/Engine/Graphics/OpenGL/PointShadow.h

@@ -3,7 +3,7 @@
 
 #include <array>
 
-#include "overworld/Engine/Graphics/OpenGL/Camera.h"
+#include "overworld/Engine/Graphics/Common/Camera.h"
 
 namespace owds {
   class Shader;

include/overworld/Engine/Graphics/OpenGL/Renderer.h

@@ -10,9 +10,9 @@
 #include "overworld/Engine/Common/Models/Model.h"
 #include "overworld/Engine/Common/Shapes/Shape.h"
 #include "overworld/Engine/Common/Urdf/Actor.h"
+#include "overworld/Engine/Graphics/Common/Camera.h"
 #include "overworld/Engine/Graphics/Common/InstanceData.h"
 #include "overworld/Engine/Graphics/OpenGL/AmbientShadow.h"
-#include "overworld/Engine/Graphics/OpenGL/Camera.h"
 #include "overworld/Engine/Graphics/OpenGL/Cubemap.h"
 #include "overworld/Engine/Graphics/OpenGL/LinesHandle.h"
 #include "overworld/Engine/Graphics/OpenGL/MeshHandle.h"

include/overworld/Perception/Managers/AreasPerceptionManager.h

@@ -10,7 +10,7 @@
 #include "overworld/Bullet/BulletClient.h"
 #include "overworld/Perception/Managers/BasePerceptionManager.h"
 #include "overworld/Perception/Managers/EntitiesPerceptionManager.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

include/overworld/Perception/Managers/BasePerceptionManager.h

@@ -7,7 +7,7 @@
 #include <vector>
 
 #include "overworld/Perception/Modules/PerceptionModuleBase.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

include/overworld/Perception/Managers/EntitiesPerceptionManager.h

@@ -12,9 +12,9 @@
 #include "overworld/Bullet/BulletClient.h"
 #include "overworld/Perception/DataFusion/DataFusionBase.h"
 #include "overworld/Perception/Managers/BasePerceptionManager.h"
-#include "overworld/Utility/RosFiles.h"
-#include "overworld/Utility/ShellDisplay.h"
-#include "overworld/Utility/Wavefront.h"
+#include "overworld/Utils/RosFiles.h"
+#include "overworld/Utils/ShellDisplay.h"
+#include "overworld/Utils/Wavefront.h"
 
 namespace owds {
 

include/overworld/Perception/Modules/PerceptionModuleBase.h

@@ -13,8 +13,8 @@
 #include "overworld/BasicTypes/Agent.h"
 #include "overworld/BasicTypes/Percept.h"
 #include "overworld/Bullet/PhysicsServers.h"
-#include "overworld/Utility/Ontology.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/Ontology.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

include/overworld/Perception/PerceptionManagers.h

@@ -5,7 +5,7 @@
 #include "overworld/Perception/Managers/HumansPerceptionManager.h"
 #include "overworld/Perception/Managers/ObjectsPerceptionManager.h"
 #include "overworld/Perception/Managers/RobotsPerceptionManager.h"
-#include "overworld/Utility/YamlReader.h"
+#include "overworld/Utils/YamlReader.h"
 
 namespace owds {
 

include/overworld/Utility/BulletKeypressHandler.h → include/overworld/Utils/BulletKeypressHandler.h

@@ -4,7 +4,7 @@
 #include "overworld/Bullet/BulletClient.h"
 #include "overworld/Geometry/GeometryUtils.h"
 #include "overworld/Perception/PerceptionManagers.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

include/overworld/Utility/Parameters.h → include/overworld/Utils/Parameters.h

@@ -6,7 +6,7 @@
 #include <string>
 #include <vector>
 
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

include/overworld/Utility/ShellDisplay.h → include/overworld/Utils/ShellDisplay.h

@@ -3,7 +3,7 @@
 
 #include <iostream>
 
-#include "overworld/Utility/Colors.h"
+#include "overworld/Utils/Colors.h"
 
 namespace owds {
 

src/BasicTypes/Object.cpp

@@ -3,7 +3,7 @@
 #include <limits>
 
 #include "overworld/BasicTypes/Hand.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

src/Bullet/BulletClient.cpp

@@ -3,8 +3,8 @@
 #include <fstream>
 
 #include "overworld/Bullet/PhysicsServers.h"
-#include "overworld/Utility/RosFiles.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/RosFiles.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

src/Bullet/PhysicsServers.cpp

@@ -2,7 +2,7 @@
 
 #include <iostream>
 
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

src/Engine/Common/Models/Loaders/ColladaLoader.cpp

@@ -13,7 +13,7 @@
 
 #include "overworld/Engine/Common/Models/Mesh.h"
 #include "overworld/Engine/Common/Models/Model.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

src/Engine/Common/Models/Loaders/ObjLoader.cpp

@@ -16,7 +16,7 @@
 #include "overworld/Engine/Common/Models/Mesh.h"
 #include "overworld/Engine/Common/Models/Model.h"
 #include "overworld/Engine/Common/Models/Vertex.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

src/Engine/Common/Models/Loaders/StlLoader.cpp

@@ -9,7 +9,7 @@
 #include "overworld/Engine/Common/Models/Mesh.h"
 #include "overworld/Engine/Common/Models/Model.h"
 #include "overworld/Engine/Common/Models/Vertex.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

src/Engine/Common/World.cpp

@@ -12,8 +12,8 @@
 #include "overworld/Engine/Common/Models/ModelManager.h"
 #include "overworld/Engine/Common/Urdf/Actor.h"
 #include "overworld/Engine/Common/Urdf/Urdf.h"
-#include "overworld/Helper/GlmMath.h"
-#include "overworld/Helper/ROS.h"
+#include "overworld/Utils/GlmMath.h"
+#include "overworld/Utils/ROS.h"
 
 namespace owds {
   World::World(const std::filesystem::path& base_assets_path)

src/Engine/Graphics/OpenGL/Camera.cpp → src/Engine/Graphics/Common/Camera.cpp

@@ -1,4 +1,4 @@
-#include "overworld/Engine/Graphics/OpenGL/Camera.h"
+#include "overworld/Engine/Graphics/Common/Camera.h"
 
 // first
 #include <GLFW/glfw3.h>
@@ -13,7 +13,7 @@
 #include "overworld/Engine/Graphics/Common/CameraProjection.h"
 #include "overworld/Engine/Graphics/Common/CameraView.h"
 #include "overworld/Engine/Graphics/Common/ViewAntiAliasing.h"
-#include "overworld/Helper/GlmMath.h"
+#include "overworld/Utils/GlmMath.h"
 
 namespace owds {
 

src/Engine/Graphics/OpenGL/CameraUpdater.cpp → src/Engine/Graphics/GLFW/CameraUpdater.cpp

@@ -1,16 +1,16 @@
-#include "overworld/Engine/Graphics/OpenGL/CameraUpdater.h"
+#include "overworld/Engine/Graphics/GLFW/CameraUpdater.h"
 
 #include <GLFW/glfw3.h>
 #include <array>
 #include <cstdint>
 #include <glm/gtc/packing.hpp>
 #include <glm/gtc/type_ptr.hpp>
 
+#include "overworld/Engine/Graphics/Common/Camera.h"
 #include "overworld/Engine/Graphics/Common/CameraProjection.h"
 #include "overworld/Engine/Graphics/Common/CameraView.h"
 #include "overworld/Engine/Graphics/Common/ViewAntiAliasing.h"
-#include "overworld/Engine/Graphics/OpenGL/Camera.h"
-#include "overworld/Helper/GlmMath.h"
+#include "overworld/Utils/GlmMath.h"
 
 namespace owds {
 

src/Engine/Graphics/GLFW/Window.cpp

@@ -6,8 +6,8 @@
 #include <memory>
 #include <string>
 
+#include "overworld/Engine/Graphics/Common/Camera.h"
 #include "overworld/Engine/Graphics/Common/WindowPlatformData.h"
-#include "overworld/Engine/Graphics/OpenGL/Camera.h"
 #include "overworld/Engine/Graphics/OpenGL/Renderer.h"
 
 #ifndef STB_IMAGE_IMPLEMENTATION

src/Engine/Graphics/OpenGL/Renderer.cpp

@@ -19,7 +19,7 @@
 #include "overworld/Engine/Graphics/GLFW/Window.h"
 #include "overworld/Engine/Graphics/OpenGL/Cubemap.h"
 #include "overworld/Engine/Graphics/OpenGL/MeshHandle.h"
-#include "overworld/Helper/GlmMath.h"
+#include "overworld/Utils/GlmMath.h"
 
 // should be after glad
 #include <GLFW/glfw3.h>

src/Engine/Graphics/OpenGL/TextRenderer.cpp

@@ -7,7 +7,7 @@
 
 #include "glad/glad.h"
 #include "overworld/Engine/Graphics/OpenGL/Shader.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

src/Nodes/TestOpengl.cpp

@@ -6,7 +6,7 @@
 
 #include "overworld/Engine/Common/Models/Loaders/ModelLoader.h"
 #include "overworld/Engine/Common/Models/ModelManager.h"
-#include "overworld/Engine/Graphics/OpenGL/Camera.h"
+#include "overworld/Engine/Graphics/Common/Camera.h"
 #include "overworld/Engine/Graphics/OpenGL/Renderer.h"
 
 // should be after glad

src/Nodes/overworld.cpp

@@ -5,8 +5,8 @@
 #include <stdlib.h>
 #include <unistd.h>
 
-#include "overworld/Utility/Parameters.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/Parameters.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 void handler(int sig)
 {

src/Nodes/plugins.cpp

@@ -5,7 +5,7 @@
 #include "overworld/BasicTypes/BodyPart.h"
 #include "overworld/BasicTypes/Object.h"
 #include "overworld/Perception/Modules/PerceptionModuleBase.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 void displayUsage()
 {

src/Perception/Managers/AgentPerceptionManager.cpp

@@ -1,7 +1,7 @@
 #include "overworld/Perception/Managers/AgentPerceptionManager.h"
 
 #include "overworld/BasicTypes/Hand.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 

src/Perception/Managers/HumansPerceptionManager.cpp

@@ -1,7 +1,7 @@
 #include "overworld/Perception/Managers/HumansPerceptionManager.h"
 
 #include "overworld/BasicTypes/Hand.h"
-#include "overworld/Utility/ShellDisplay.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 
@@ -10,7 +10,7 @@ namespace owds {
     for(auto& percept : percepts)
     {
       std::string part_id = percept.first;
-      if(percept.second.isLocated()) //TODO consider human disparition
+      if(percept.second.isLocated()) // TODO consider human disparition
       {
         auto it = aggregated_.find(part_id);
         if(it == aggregated_.end())

src/Perception/Managers/RobotsPerceptionManager.cpp

@@ -1,34 +1,34 @@
 #include "overworld/Perception/Managers/RobotsPerceptionManager.h"
 
-#include "overworld/Utility/ShellDisplay.h"
 #include "overworld/BasicTypes/Hand.h"
+#include "overworld/Utils/ShellDisplay.h"
 
 namespace owds {
 
-void RobotsPerceptionManager::getPercepts(const std::string& module_name, std::map<std::string, Percept<BodyPart>>& percepts)
-{
-  for(auto& percept : percepts)
+  void RobotsPerceptionManager::getPercepts(const std::string& module_name, std::map<std::string, Percept<BodyPart>>& percepts)
   {
-    auto it = entities_.find(percept.second.id());
-    if(it == entities_.end())
+    for(auto& percept : percepts)
     {
-      BodyPart* new_body_part = nullptr;
-      if((percept.second.getType() == BODY_PART_LEFT_HAND) || (percept.second.getType() == BODY_PART_RIGHT_HAND))
-        new_body_part = new Hand(percept.second);
-      else
-        new_body_part = new BodyPart(percept.second);
-      it = entities_.insert(std::pair<std::string, BodyPart*>(percept.second.id(), new_body_part)).first;
-      if(addToBullet(it->second) == false)
+      auto it = entities_.find(percept.second.id());
+      if(it == entities_.end())
       {
-        if(it->second->bulletId() != -1)
-          addToBullet(it->second, it->second->bulletId());
+        BodyPart* new_body_part = nullptr;
+        if((percept.second.getType() == BODY_PART_LEFT_HAND) || (percept.second.getType() == BODY_PART_RIGHT_HAND))
+          new_body_part = new Hand(percept.second);
+        else
+          new_body_part = new BodyPart(percept.second);
+        it = entities_.insert(std::pair<std::string, BodyPart*>(percept.second.id(), new_body_part)).first;
+        if(addToBullet(it->second) == false)
+        {
+          if(it->second->bulletId() != -1)
+            addToBullet(it->second, it->second->bulletId());
+        }
+        updateAgent(it->second, AgentType_e::ROBOT);
       }
-      updateAgent(it->second, AgentType_e::ROBOT);
+
+      if(percept.second.isLocated())
+        updateEntityPose(it->second, percept.second.pose(), percept.second.lastStamp());
     }
-
-    if(percept.second.isLocated())
-      updateEntityPose(it->second, percept.second.pose(), percept.second.lastStamp());
   }
-}
 
 } // namespace owds