From b25452bb37bde557096aa68a5ff8fdeb1b77146b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 27 Sep 2022 11:29:26 +0200
Subject: [PATCH] Organize includes

---
 include/factory_publisher.h     |  2 ++
 include/factory_subscriber.h    |  5 ++---
 include/node.h                  | 22 ++++++++++------------
 include/publisher.h             |  8 +++++---
 include/publisher_graph.h       |  5 +++--
 include/publisher_pose.h        |  6 ++++--
 include/publisher_state_block.h |  6 +++---
 include/publisher_tf.h          |  6 +++---
 include/publisher_trajectory.h  |  5 +++--
 include/subscriber.h            |  5 +++--
 include/subscriber_diffdrive.h  |  4 ++--
 include/subscriber_odom2d.h     |  4 +++-
 include/subscriber_pose.h       |  3 ++-
 src/node.cpp                    | 19 ++++++++++++++-----
 src/publisher_graph.cpp         |  7 ++++++-
 src/publisher_pose.cpp          |  6 ++++--
 src/publisher_state_block.cpp   |  1 +
 src/publisher_tf.cpp            |  5 +++--
 src/subscriber_diffdrive.cpp    |  6 ++++--
 src/subscriber_odom2d.cpp       |  7 ++++---
 src/subscriber_pose.cpp         |  4 +++-
 21 files changed, 84 insertions(+), 52 deletions(-)

diff --git a/include/factory_publisher.h b/include/factory_publisher.h
index 1911c43..b64e40f 100644
--- a/include/factory_publisher.h
+++ b/include/factory_publisher.h
@@ -25,6 +25,8 @@
 // wolf
 #include <core/common/factory.h>
 #include <core/utils/params_server.h>
+
+// ros
 #include <ros/ros.h>
 
 namespace wolf
diff --git a/include/factory_subscriber.h b/include/factory_subscriber.h
index dc23500..6d2eaf9 100644
--- a/include/factory_subscriber.h
+++ b/include/factory_subscriber.h
@@ -25,10 +25,9 @@
 // wolf
 #include <core/common/factory.h>
 #include <core/utils/params_server.h>
-#include <ros/ros.h>
 
-// #include "wolf_ros_subscriber.h"
-// std
+// ros
+#include <ros/ros.h>
 
 
 namespace wolf
diff --git a/include/node.h b/include/node.h
index d7236b2..d4c2dde 100644
--- a/include/node.h
+++ b/include/node.h
@@ -23,29 +23,29 @@
 #ifndef NODE_H
 #define NODE_H
 
+/**************************
+ *   WOLF ROS includes    *
+ **************************/
+#include "subscriber.h"
+#include "publisher.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include <core/common/node_base.h>
 #include <core/common/wolf.h>
-#include <core/capture/capture_odom_2d.h>
-#include <core/ceres_wrapper/solver_ceres.h>
-#include <core/sensor/sensor_odom_2d.h>
-#include <core/processor/processor_odom_2d.h>
+#include <core/solver/solver_manager.h>
 #include <core/problem/problem.h>
 #include <core/utils/loader.h>
-#include <core/yaml/parser_yaml.h>
-#include <core/solver/factory_solver.h>
 
 
 /**************************
- *     CERES includes     *
+ *     ROS includes     *
  **************************/
 #include <ros/ros.h>
 #include <ros/package.h>
 #include <nav_msgs/Odometry.h>
-#include "tf/LinearMath/Transform.h"
-#include "tf/transform_datatypes.h"
+#include <tf/LinearMath/Transform.h>
+#include <tf/transform_datatypes.h>
 #include <tf/transform_broadcaster.h>
 #include <tf/transform_listener.h>
 #include <visualization_msgs/Marker.h>
@@ -61,8 +61,6 @@
 #include <fstream>
 #include <string>
 
-#include "subscriber.h"
-#include "publisher.h"
 
 using namespace wolf;
 
diff --git a/include/publisher.h b/include/publisher.h
index e86ad78..e595811 100644
--- a/include/publisher.h
+++ b/include/publisher.h
@@ -21,6 +21,9 @@
 //--------LICENSE_END--------
 #ifndef WOLF_PUBLISHER_H
 #define WOLF_PUBLISHER_H
+
+#include "factory_publisher.h"
+
 /**************************
  *      ROS includes      *
  **************************/
@@ -29,9 +32,8 @@
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/common/wolf.h"
-#include "core/problem/problem.h"
-#include "factory_publisher.h"
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
 
 namespace wolf
 {
diff --git a/include/publisher_graph.h b/include/publisher_graph.h
index 22bdd40..4cdf019 100644
--- a/include/publisher_graph.h
+++ b/include/publisher_graph.h
@@ -22,11 +22,12 @@
 #ifndef PUBLISHER_GRAPH_H
 #define PUBLISHER_GRAPH_H
 
+#include "publisher.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/problem/problem.h"
-#include "publisher.h"
+#include <core/problem/problem.h>
 
 /**************************
  *      ROS includes      *
diff --git a/include/publisher_pose.h b/include/publisher_pose.h
index 1e7428f..59a0ef3 100644
--- a/include/publisher_pose.h
+++ b/include/publisher_pose.h
@@ -22,12 +22,14 @@
 #ifndef PUBLISHER_POSE_H
 #define PUBLISHER_POSE_H
 
+
+#include "publisher.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/problem/problem.h"
+#include <core/problem/problem.h>
 
-#include "publisher.h"
 
 /**************************
  *      ROS includes      *
diff --git a/include/publisher_state_block.h b/include/publisher_state_block.h
index 78bd104..c0d229c 100644
--- a/include/publisher_state_block.h
+++ b/include/publisher_state_block.h
@@ -22,12 +22,12 @@
 #ifndef PUBLISHER_STATE_BLOCK_H
 #define PUBLISHER_STATE_BLOCK_H
 
+#include "publisher.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/problem/problem.h"
-
-#include "publisher.h"
+#include <core/problem/problem.h>
 
 /**************************
  *      ROS includes      *
diff --git a/include/publisher_tf.h b/include/publisher_tf.h
index 333676b..fe545e5 100644
--- a/include/publisher_tf.h
+++ b/include/publisher_tf.h
@@ -22,12 +22,12 @@
 #ifndef PUBLISHER_TF_H
 #define PUBLISHER_TF_H
 
+#include "publisher.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/problem/problem.h"
-
-#include "publisher.h"
+#include <core/problem/problem.h>
 
 /**************************
  *      ROS includes      *
diff --git a/include/publisher_trajectory.h b/include/publisher_trajectory.h
index bd26b6c..7ce9eaa 100644
--- a/include/publisher_trajectory.h
+++ b/include/publisher_trajectory.h
@@ -28,12 +28,13 @@
 #ifndef PUBLISHER_TRAJECTORY_H
 #define PUBLISHER_TRAJECTORY_H
 
+#include "publisher.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/problem/problem.h"
+#include <core/problem/problem.h>
 
-#include "publisher.h"
 
 /**************************
  *      ROS includes      *
diff --git a/include/subscriber.h b/include/subscriber.h
index 0db5b5c..5de7b2b 100644
--- a/include/subscriber.h
+++ b/include/subscriber.h
@@ -22,13 +22,14 @@
 #ifndef WOLF_SUBSCRIBER_H_
 #define WOLF_SUBSCRIBER_H_
 
+#include "factory_subscriber.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/common/wolf.h"
+#include <core/common/wolf.h>
 #include <core/utils/params_server.h>
 #include <core/sensor/sensor_base.h>
-#include "factory_subscriber.h"
 
 /**************************
  *      ROS includes      *
diff --git a/include/subscriber_diffdrive.h b/include/subscriber_diffdrive.h
index ba2d015..d733eba 100644
--- a/include/subscriber_diffdrive.h
+++ b/include/subscriber_diffdrive.h
@@ -24,18 +24,18 @@
 #define WOLF_SUBSCRIBER_DIFFDRIVE_H_
 
 
+#include "subscriber.h"
 /**************************
  *      WOLF includes     *
  **************************/
 #include <core/common/wolf.h>
-#include "subscriber.h"
 
 /**************************
  *      ROS includes      *
  **************************/
 #include <ros/ros.h>
 #include <nav_msgs/Odometry.h>
-#include "sensor_msgs/JointState.h"
+#include <sensor_msgs/JointState.h>
 
 namespace wolf
 {
diff --git a/include/subscriber_odom2d.h b/include/subscriber_odom2d.h
index a2097b2..16ea0f0 100644
--- a/include/subscriber_odom2d.h
+++ b/include/subscriber_odom2d.h
@@ -24,11 +24,14 @@
 #define WOLF_SUBSCRIBER_ODOM2D_H_
 
 
+#include "subscriber.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
 #include <core/common/wolf.h>
 #include <core/utils/params_server.h>
+#include <core/sensor/sensor_odom_2d.h>
 
 /**************************
  *      ROS includes      *
@@ -36,7 +39,6 @@
 #include <ros/ros.h>
 #include <nav_msgs/Odometry.h>
 
-#include "subscriber.h"
 
 namespace wolf
 {
diff --git a/include/subscriber_pose.h b/include/subscriber_pose.h
index e9a5038..27be7e4 100644
--- a/include/subscriber_pose.h
+++ b/include/subscriber_pose.h
@@ -22,10 +22,11 @@
 #ifndef WOLF_SUBSCRIBER_POSE_H_
 #define WOLF_SUBSCRIBER_POSE_H_
 
+#include "subscriber.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "subscriber.h"
 #include <core/common/wolf.h>
 #include <core/utils/params_server.h>
 #include <core/capture/capture_pose.h>
diff --git a/src/node.cpp b/src/node.cpp
index 5f2257c..42edbae 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -19,14 +19,23 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#include <chrono>
-#include "node.h"
-#include "ros/time.h"
-#include "core/solver/factory_solver.h"
-#include "tf/transform_datatypes.h"
+
+// wolf ros
 #include "factory_subscriber.h"
 #include "factory_publisher.h"
 
+// wolf
+#include <core/solver/factory_solver.h>
+#include <core/yaml/parser_yaml.h>
+
+// ros
+#include <node.h>
+#include <ros/time.h>
+#include <tf/transform_datatypes.h>
+
+// std
+#include <chrono>
+
 WolfRosNode::WolfRosNode()
     : nh_(ros::this_node::getName())
     , last_print_(ros::Time(0))
diff --git a/src/publisher_graph.cpp b/src/publisher_graph.cpp
index 6a97029..2d573ae 100644
--- a/src/publisher_graph.cpp
+++ b/src/publisher_graph.cpp
@@ -20,8 +20,13 @@
 //
 //--------LICENSE_END--------
 #include "publisher_graph.h"
+
+// wolf
+#include <core/processor/processor_motion.h>
+
+// ros
 #include <tf/transform_datatypes.h>
-#include "core/processor/processor_motion.h"
+
 
 namespace wolf
 {
diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp
index abcecb3..65222db 100644
--- a/src/publisher_pose.cpp
+++ b/src/publisher_pose.cpp
@@ -19,14 +19,16 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
+
 #include "publisher_pose.h"
 
 /**************************
  *      ROS includes      *
  **************************/
 #include <ros/ros.h>
-#include "tf/transform_datatypes.h"
-#include "tf_conversions/tf_eigen.h"
+#include <tf/transform_datatypes.h>
+#include <tf_conversions/tf_eigen.h>
+
 
 namespace wolf
 {
diff --git a/src/publisher_state_block.cpp b/src/publisher_state_block.cpp
index 8300340..f2a698d 100644
--- a/src/publisher_state_block.cpp
+++ b/src/publisher_state_block.cpp
@@ -19,6 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
+
 #include "publisher_state_block.h"
 
 namespace wolf
diff --git a/src/publisher_tf.cpp b/src/publisher_tf.cpp
index 2591644..448d9bb 100644
--- a/src/publisher_tf.cpp
+++ b/src/publisher_tf.cpp
@@ -19,14 +19,15 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
+
 #include "publisher_tf.h"
 
 /**************************
  *      ROS includes      *
  **************************/
 #include <ros/ros.h>
-#include "tf/transform_datatypes.h"
-#include "tf_conversions/tf_eigen.h"
+#include <tf/transform_datatypes.h>
+#include <tf_conversions/tf_eigen.h>
 
 namespace wolf
 {
diff --git a/src/subscriber_diffdrive.cpp b/src/subscriber_diffdrive.cpp
index da7a295..1ecb9d9 100644
--- a/src/subscriber_diffdrive.cpp
+++ b/src/subscriber_diffdrive.cpp
@@ -19,14 +19,16 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
+
+#include "subscriber_diffdrive.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
 #include <core/capture/capture_diff_drive.h>
 #include <core/sensor/sensor_diff_drive.h>
+#include <core/math/rotations.h>
 
-#include "core/math/rotations.h"
-#include "subscriber_diffdrive.h"
 
 namespace wolf
 {
diff --git a/src/subscriber_odom2d.cpp b/src/subscriber_odom2d.cpp
index f46d0a5..699f10d 100644
--- a/src/subscriber_odom2d.cpp
+++ b/src/subscriber_odom2d.cpp
@@ -19,6 +19,10 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
+
+#include "subscriber.h"
+#include "subscriber_odom2d.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
@@ -39,9 +43,6 @@
 #include <iomanip>
 #include <queue>
 
-#include "subscriber.h"
-#include "subscriber_odom2d.h"
-
 namespace wolf
 {
 SubscriberOdom2d::SubscriberOdom2d(const std::string& _unique_name,
diff --git a/src/subscriber_pose.cpp b/src/subscriber_pose.cpp
index 2f1a474..70fddea 100644
--- a/src/subscriber_pose.cpp
+++ b/src/subscriber_pose.cpp
@@ -19,10 +19,12 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
+
+#include "subscriber_pose.h"
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "subscriber_pose.h"
 
 /**************************
  *      ROS includes      *
-- 
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