fix: clear up

fan-ziqi · Mar 14, 2024 · 2794537 · 2794537
1 parent bef47f7
commit 2794537
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Showing 8 changed files with 9 additions and 196 deletions.
diff --git a/src/unitree_rl/CMakeLists.txt b/src/unitree_rl/CMakeLists.txt
@@ -28,8 +28,6 @@ catkin_package(
 include_directories(library/unitree_legged_sdk_3.2/include)
 link_directories(library/unitree_legged_sdk_3.2/lib)
 set(EXTRA_LIBS -pthread libunitree_legged_sdk_amd64.so lcm)
-add_executable(lcm_server $ENV{UNITREE_LEGGED_SDK_PATH}/examples/lcm_server.cpp)
-target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES})
 
 include_directories(
     include
@@ -41,11 +39,11 @@ include_directories(
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
-add_library(model lib/model.cpp lib/model.hpp)
+add_library(model library/model/model.cpp library/model/model.hpp)
 target_link_libraries(model "${TORCH_LIBRARIES}")
 set_property(TARGET model PROPERTY CXX_STANDARD 14)
 
-add_library(observation_buffer lib/observation_buffer.cpp lib/observation_buffer.hpp)
+add_library(observation_buffer library/observation_buffer/observation_buffer.cpp library/observation_buffer/observation_buffer.hpp)
 target_link_libraries(observation_buffer "${TORCH_LIBRARIES}")
 set_property(TARGET observation_buffer PROPERTY CXX_STANDARD 14)
 

diff --git a/src/unitree_rl/include/convert.h b/src/unitree_rl/include/convert.h
diff --git a/src/unitree_rl/include/unitree_rl.hpp b/src/unitree_rl/include/unitree_rl.hpp
@@ -5,8 +5,8 @@
 #include <gazebo_msgs/ModelStates.h>
 #include <sensor_msgs/JointState.h>
 #include <geometry_msgs/Twist.h>
-#include "../lib/model.cpp"
-#include "../lib/observation_buffer.hpp"
+#include "../library/model/model.hpp"
+#include "../library/observation_buffer/observation_buffer.hpp"
 #include "unitree_legged_msgs/MotorCmd.h"
 
 class Unitree_RL : public Model

diff --git a/src/unitree_rl/include/unitree_rl_real.hpp b/src/unitree_rl/include/unitree_rl_real.hpp
@@ -5,11 +5,13 @@
 #include <gazebo_msgs/ModelStates.h>
 #include <sensor_msgs/JointState.h>
 #include <geometry_msgs/Twist.h>
-#include "../lib/model.cpp"
-#include "../lib/observation_buffer.hpp"
+#include "../library/model/model.hpp"
+#include "../library/observation_buffer/observation_buffer.hpp"
 #include <unitree_legged_msgs/LowCmd.h>
 #include "unitree_legged_msgs/LowState.h"
-#include "convert.h"
+#include <unitree_legged_msgs/MotorCmd.h>
+#include <unitree_legged_msgs/MotorState.h>
+#include "unitree_legged_sdk/unitree_legged_sdk.h"
 #include <pthread.h>
 
 using namespace UNITREE_LEGGED_SDK;

diff --git a/src/unitree_rl/lib/model.cpp → src/unitree_rl/library/model/model.cpp b/src/unitree_rl/lib/model.cpp → src/unitree_rl/library/model/model.cpp
diff --git a/src/unitree_rl/lib/model.hpp → src/unitree_rl/library/model/model.hpp b/src/unitree_rl/lib/model.hpp → src/unitree_rl/library/model/model.hpp
diff --git a/src/unitree_rl/lib/observation_buffer.cpp → ...observation_buffer/observation_buffer.cpp b/src/unitree_rl/lib/observation_buffer.cpp → ...observation_buffer/observation_buffer.cpp
diff --git a/src/unitree_rl/lib/observation_buffer.hpp → ...observation_buffer/observation_buffer.hpp b/src/unitree_rl/lib/observation_buffer.hpp → ...observation_buffer/observation_buffer.hpp