Use .hpp headers (#641)

based on PR moveit/moveit2#3113
moveit · Dec 22, 2024 · 3cd567e · 3cd567e
1 parent 8b4aa43
commit 3cd567e
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diff --git a/.clang-tidy b/.clang-tidy
@@ -17,7 +17,6 @@ Checks:          'performance-*,
                   readability-identifier-naming,
                   '
 HeaderFilterRegex: '.*/moveit/task_constructor/.*\.h'
-AnalyzeTemporaryDtors: false
 CheckOptions:
   - key:             llvm-namespace-comment.ShortNamespaceLines
     value:           '10'

diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -36,13 +36,13 @@
 
 #include "execute_task_solution_capability.h"
 
-#include <moveit/moveit_cpp/moveit_cpp.h>
-#include <moveit/plan_execution/plan_execution.h>
-#include <moveit/trajectory_processing/trajectory_tools.h>
-#include <moveit/kinematic_constraints/utils.h>
-#include <moveit/move_group/capability_names.h>
-#include <moveit/robot_state/conversions.h>
-#include <moveit/utils/message_checks.h>
+#include <moveit/moveit_cpp/moveit_cpp.hpp>
+#include <moveit/plan_execution/plan_execution.hpp>
+#include <moveit/trajectory_processing/trajectory_tools.hpp>
+#include <moveit/kinematic_constraints/utils.hpp>
+#include <moveit/move_group/capability_names.hpp>
+#include <moveit/robot_state/conversions.hpp>
+#include <moveit/utils/message_checks.hpp>
 #include <fmt/format.h>
 
 namespace {

diff --git a/capabilities/src/execute_task_solution_capability.h b/capabilities/src/execute_task_solution_capability.h
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <moveit/move_group/move_group_capability.h>
+#include <moveit/move_group/move_group_capability.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
 
 #include <moveit_task_constructor_msgs/action/execute_task_solution.hpp>

diff --git a/core/include/moveit/task_constructor/container_p.h b/core/include/moveit/task_constructor/container_p.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <moveit/task_constructor/container.h>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include "stage_p.h"
 
 #include <boost/bimap.hpp>

diff --git a/core/include/moveit/task_constructor/introspection.h b/core/include/moveit/task_constructor/introspection.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit_task_constructor_msgs/msg/task_description.hpp>
 #include <moveit_task_constructor_msgs/msg/task_statistics.hpp>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>

diff --git a/core/include/moveit/task_constructor/marker_tools.h b/core/include/moveit/task_constructor/marker_tools.h
@@ -2,7 +2,7 @@
 
 #include <rviz_marker_tools/marker_creation.h>
 #include <visualization_msgs/msg/marker.hpp>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <functional>
 
 namespace planning_scene {

diff --git a/core/include/moveit/task_constructor/merge.h b/core/include/moveit/task_constructor/merge.h
@@ -37,9 +37,9 @@
 #pragma once
 
 #include <moveit/task_constructor/storage.h>
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/robot_trajectory/robot_trajectory.h>
-#include <moveit/trajectory_processing/time_parameterization.h>
+#include <moveit/robot_model/robot_model.hpp>
+#include <moveit/robot_trajectory/robot_trajectory.hpp>
+#include <moveit/trajectory_processing/time_parameterization.hpp>
 
 namespace moveit {
 namespace task_constructor {

diff --git a/core/include/moveit/task_constructor/moveit_compat.h b/core/include/moveit/task_constructor/moveit_compat.h
@@ -38,8 +38,8 @@
 
 #pragma once
 
-#include <moveit/version.h>
-#include <moveit/macros/class_forward.h>
+#include <moveit/version.hpp>
+#include <moveit/macros/class_forward.hpp>
 
 #define MOVEIT_VERSION_GE(major, minor, patch)                                                \
 	(MOVEIT_VERSION_MAJOR * 1'000'000 + MOVEIT_VERSION_MINOR * 1'000 + MOVEIT_VERSION_PATCH >= \

diff --git a/core/include/moveit/task_constructor/solvers/cartesian_path.h b/core/include/moveit/task_constructor/solvers/cartesian_path.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <moveit/task_constructor/solvers/planner_interface.h>
-#include <moveit/robot_state/cartesian_interpolator.h>
+#include <moveit/robot_state/cartesian_interpolator.hpp>
 
 namespace moveit {
 namespace task_constructor {

diff --git a/core/include/moveit/task_constructor/solvers/joint_interpolation.h b/core/include/moveit/task_constructor/solvers/joint_interpolation.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <moveit/task_constructor/solvers/planner_interface.h>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 
 namespace moveit {
 namespace task_constructor {

diff --git a/core/include/moveit/task_constructor/solvers/pipeline_planner.h b/core/include/moveit/task_constructor/solvers/pipeline_planner.h
@@ -43,7 +43,7 @@
 #include <moveit/planning_pipeline_interfaces/solution_selection_functions.hpp>
 #include <moveit/planning_pipeline_interfaces/stopping_criterion_functions.hpp>
 #include <rclcpp/node.hpp>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 
 namespace planning_pipeline {
 MOVEIT_CLASS_FORWARD(PlanningPipeline);

diff --git a/core/include/moveit/task_constructor/solvers/planner_interface.h b/core/include/moveit/task_constructor/solvers/planner_interface.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit_msgs/msg/constraints.hpp>
 #include <moveit/task_constructor/properties.h>
 #include <Eigen/Geometry>

diff --git a/core/include/moveit/task_constructor/stage.h b/core/include/moveit/task_constructor/stage.h
@@ -41,7 +41,7 @@
 
 #include "trajectory_execution_info.h"
 #include "utils.h"
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit/task_constructor/storage.h>
 #include <vector>
 #include <list>

diff --git a/core/include/moveit/task_constructor/stages/fix_collision_objects.h b/core/include/moveit/task_constructor/stages/fix_collision_objects.h
@@ -41,7 +41,7 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/stage.h>
 #include <geometry_msgs/msg/vector3.hpp>
-#include <moveit/collision_detection/collision_common.h>
+#include <moveit/collision_detection/collision_common.hpp>
 
 namespace moveit {
 namespace task_constructor {

diff --git a/core/include/moveit/task_constructor/stages/noop.h b/core/include/moveit/task_constructor/stages/noop.h
@@ -36,7 +36,7 @@
 #pragma once
 
 #include <moveit/task_constructor/stage.h>
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene/planning_scene.hpp>
 
 namespace moveit {
 namespace task_constructor {

diff --git a/core/include/moveit/task_constructor/stages/pick.h b/core/include/moveit/task_constructor/stages/pick.h
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit/task_constructor/container.h>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 

diff --git a/core/include/moveit/task_constructor/stages/simple_grasp.h b/core/include/moveit/task_constructor/stages/simple_grasp.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <moveit/task_constructor/container.h>
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <Eigen/Geometry>
 

diff --git a/core/include/moveit/task_constructor/storage.h b/core/include/moveit/task_constructor/storage.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 #include <moveit/task_constructor/properties.h>
 #include <moveit/task_constructor/cost_queue.h>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>

diff --git a/core/include/moveit/task_constructor/task.h b/core/include/moveit/task_constructor/task.h
@@ -44,10 +44,10 @@
 #include <moveit/task_constructor/introspection.h>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 
 #include <moveit_msgs/msg/move_it_error_codes.hpp>
-#include <moveit/utils/moveit_error_code.h>
+#include <moveit/utils/moveit_error_code.hpp>
 
 #include <rclcpp/node.hpp>
 

diff --git a/core/include/moveit/task_constructor/utils.h b/core/include/moveit/task_constructor/utils.h
@@ -44,7 +44,7 @@
 
 #include <Eigen/Geometry>
 
-#include <moveit/macros/class_forward.h>
+#include <moveit/macros/class_forward.hpp>
 
 namespace planning_scene {
 MOVEIT_CLASS_FORWARD(PlanningScene);

diff --git a/core/python/bindings/src/core.cpp b/core/python/bindings/src/core.cpp
@@ -40,9 +40,9 @@
 #include <moveit/task_constructor/container_p.h>
 #include <moveit/task_constructor/task.h>
 
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
-#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
+#include <moveit/move_group_interface/move_group_interface.hpp>
 
 namespace py = pybind11;
 using namespace py::literals;

diff --git a/core/python/bindings/src/core.h b/core/python/bindings/src/core.h
@@ -38,7 +38,7 @@
 #include <moveit/task_constructor/container.h>
 #include <moveit/task_constructor/cost_queue.h>
 #include <moveit/task_constructor/cost_terms.h>
-#include <moveit/utils/moveit_error_code.h>
+#include <moveit/utils/moveit_error_code.hpp>
 #include <pybind11/smart_holder.h>
 
 /** Trampoline classes to allow inheritance in Python (overriding virtual functions) */

diff --git a/core/python/bindings/src/stages.cpp b/core/python/bindings/src/stages.cpp
@@ -37,7 +37,7 @@
 #include <moveit/task_constructor/stages.h>
 #include <moveit/task_constructor/stages/pick.h>
 #include <moveit/task_constructor/stages/simple_grasp.h>
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene/planning_scene.hpp>
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <pybind11/stl.h>
 #include <py_binding_tools/ros_msg_typecasters.h>

diff --git a/core/src/container.cpp b/core/src/container.cpp
@@ -38,8 +38,8 @@
 #include <moveit/task_constructor/introspection.h>
 #include <moveit/task_constructor/merge.h>
 #include <moveit/task_constructor/fmt_p.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
 
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>

diff --git a/core/src/cost_terms.cpp b/core/src/cost_terms.cpp
@@ -38,10 +38,10 @@
 #include <moveit/task_constructor/stage.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/collision_detection/collision_common.h>
-#include <moveit/robot_trajectory/robot_trajectory.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_state/conversions.h>
+#include <moveit/collision_detection/collision_common.hpp>
+#include <moveit/robot_trajectory/robot_trajectory.hpp>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_state/conversions.hpp>
 
 #include <Eigen/Geometry>
 

diff --git a/core/src/introspection.cpp b/core/src/introspection.cpp
@@ -44,7 +44,7 @@
 #include <rclcpp/node.hpp>
 #include <rclcpp/publisher.hpp>
 #include <rclcpp/service.hpp>
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene/planning_scene.hpp>
 
 #include <sstream>
 #include <boost/bimap.hpp>

diff --git a/core/src/marker_tools.cpp b/core/src/marker_tools.cpp
@@ -1,6 +1,6 @@
 #include <moveit/task_constructor/marker_tools.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_state/robot_state.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_state/robot_state.hpp>
 
 namespace vm = visualization_msgs;
 

diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
@@ -38,10 +38,10 @@
 
 #include <moveit/task_constructor/solvers/cartesian_path.h>
 #include <moveit/task_constructor/utils.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/trajectory_processing/time_parameterization.h>
-#include <moveit/kinematics_base/kinematics_base.h>
-#include <moveit/robot_state/cartesian_interpolator.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/trajectory_processing/time_parameterization.hpp>
+#include <moveit/kinematics_base/kinematics_base.hpp>
+#include <moveit/robot_state/cartesian_interpolator.hpp>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
 #else

diff --git a/core/src/solvers/joint_interpolation.cpp b/core/src/solvers/joint_interpolation.cpp
@@ -37,8 +37,8 @@
 */
 
 #include <moveit/task_constructor/solvers/joint_interpolation.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/trajectory_processing/time_parameterization.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/trajectory_processing/time_parameterization.hpp>
 
 #include <chrono>
 

diff --git a/core/src/solvers/multi_planner.cpp b/core/src/solvers/multi_planner.cpp
@@ -37,7 +37,7 @@
 */
 
 #include <moveit/task_constructor/solvers/multi_planner.h>
-#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/robot_trajectory/robot_trajectory.hpp>
 #include <chrono>
 
 namespace moveit {

diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -38,10 +38,10 @@
 
 #include <moveit/task_constructor/solvers/pipeline_planner.h>
 #include <moveit/task_constructor/task.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_pipeline/planning_pipeline.hpp>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
-#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/kinematic_constraints/utils.hpp>
 
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>

diff --git a/core/src/solvers/planner_interface.cpp b/core/src/solvers/planner_interface.cpp
@@ -37,7 +37,7 @@
 */
 
 #include <moveit/task_constructor/solvers/planner_interface.h>
-#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
 
 using namespace trajectory_processing;
 

diff --git a/core/src/stage.cpp b/core/src/stage.cpp
@@ -40,7 +40,7 @@
 #include <moveit/task_constructor/introspection.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene/planning_scene.hpp>
 
 #include <rclcpp/logging.hpp>
 

diff --git a/core/src/stages/compute_ik.cpp b/core/src/stages/compute_ik.cpp
@@ -39,9 +39,9 @@
 #include <moveit/task_constructor/marker_tools.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_state/conversions.h>
-#include <moveit/robot_state/robot_state.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_state/conversions.hpp>
+#include <moveit/robot_state/robot_state.hpp>
 
 #include <Eigen/Geometry>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)

diff --git a/core/src/stages/connect.cpp b/core/src/stages/connect.cpp
@@ -41,8 +41,8 @@
 #include <moveit/task_constructor/cost_terms.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
 
 #if FMT_VERSION >= 90000
 template <>

diff --git a/core/src/stages/current_state.cpp b/core/src/stages/current_state.cpp
@@ -41,8 +41,8 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit_msgs/srv/get_planning_scene.hpp>
 #include <moveit_msgs/msg/planning_scene_components.hpp>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_model_loader/robot_model_loader.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 namespace moveit {

diff --git a/core/src/stages/fix_collision_objects.cpp b/core/src/stages/fix_collision_objects.cpp
@@ -40,7 +40,7 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene/planning_scene.hpp>
 #include <moveit/task_constructor/cost_terms.h>
 
 #include <rviz_marker_tools/marker_creation.h>

diff --git a/core/src/stages/fixed_cartesian_poses.cpp b/core/src/stages/fixed_cartesian_poses.cpp
@@ -39,7 +39,7 @@
 #include <moveit/task_constructor/cost_terms.h>
 #include <moveit/task_constructor/marker_tools.h>
 
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene/planning_scene.hpp>
 #include <rviz_marker_tools/marker_creation.h>
 
 namespace moveit {