Enhancement/use hpp for headers based on PR moveit/moveit2#3113 (#997)

Author: CihatAltiparmak

doc/examples/collision_environments/src/collision_scene_example.cpp

@@ -1,12 +1,12 @@
 #include <rclcpp/rclcpp.hpp>
 
 // MoveIt
-#include <moveit/common_planning_interface_objects/common_objects.h>
-#include <moveit/kinematic_constraints/utils.h>
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
-#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/common_planning_interface_objects/common_objects.hpp>
+#include <moveit/kinematic_constraints/utils.hpp>
+#include <moveit/move_group_interface/move_group_interface.hpp>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
+#include <moveit/robot_model_loader/robot_model_loader.hpp>
 // TF2
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 

doc/examples/hybrid_planning/hybrid_planning_tutorial.rst

@@ -100,7 +100,7 @@ The dataflow within the component can be seen in the picture below:
 .. image:: images/global_planner_dataflow.png
    :width: 500pt
 
-The *Global Planner Plugin* can be used to implement and customize the global planning algorithm. To implement you own planner you simply need to inherit from the :moveit_codedir:`GlobalPlannerInterface <moveit_ros/hybrid_planning/global_planner/global_planner_component/include/moveit/global_planner/global_planner_interface.h>`:
+The *Global Planner Plugin* can be used to implement and customize the global planning algorithm. To implement you own planner you simply need to inherit from the :moveit_codedir:`GlobalPlannerInterface <moveit_ros/hybrid_planning/global_planner/global_planner_component/include/moveit/global_planner/global_planner_interface.hpp>`:
 
 .. code-block:: c++
 
@@ -140,7 +140,7 @@ Via the *Global Solution Subscriber* the *Local Planner Component* receives glob
 
 The behavior of the *Local Planner Component* can be customized via the *Trajectory Operator Plugin* and the local *Solver Plugin*:
 
-The *Trajectory Operator Plugin* handles the reference trajectory. To create your own operator you need to create a plugin class which inherits from the :moveit_codedir:`TrajectoryOperatorInterface <moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/trajectory_operator_interface.h>`:
+The *Trajectory Operator Plugin* handles the reference trajectory. To create your own operator you need to create a plugin class which inherits from the :moveit_codedir:`TrajectoryOperatorInterface <moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/trajectory_operator_interface.hpp>`:
 
 .. code-block:: c++
 
@@ -174,7 +174,7 @@ The *Trajectory Operator Plugin* handles the reference trajectory. To create you
 
 *Trajectory Operator* example implementations can be found :moveit_codedir:`here <moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/>`.
 
-The *Local Solver Plugin* implements the algorithm to solve the local planning problem each iteration. To implement your solution you need to inherit from the :moveit_codedir:`LocalConstraintSolverInterface <moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_constraint_solver_interface.h>`:
+The *Local Solver Plugin* implements the algorithm to solve the local planning problem each iteration. To implement your solution you need to inherit from the :moveit_codedir:`LocalConstraintSolverInterface <moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_constraint_solver_interface.hpp>`:
 
 .. code-block:: c++
 
@@ -238,7 +238,7 @@ The callback function an event channel in the *Hybrid Planning Manager* looks li
         }
       };
 
-To create you own *Planner Logic Plugin* you need inherit from the :moveit_codedir:`PlannerLogicInterface <moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/include/moveit/hybrid_planning_manager/planner_logic_interface.h>`:
+To create you own *Planner Logic Plugin* you need inherit from the :moveit_codedir:`PlannerLogicInterface <moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/include/moveit/hybrid_planning_manager/planner_logic_interface.hpp>`:
 
 .. code-block:: c++
 
@@ -259,4 +259,4 @@ To create you own *Planner Logic Plugin* you need inherit from the :moveit_coded
      ReactionResult react(const std::string& event) override;
    };
 
-A possible implementation of the *react()* function could contain a switch-case statement that maps events to actions like in the :moveit_codedir:`example logic plugins<moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/include/moveit/hybrid_planning_manager/planner_logic_interface.h>`.
+A possible implementation of the *react()* function could contain a switch-case statement that maps events to actions like in the :moveit_codedir:`example logic plugins<moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/include/moveit/hybrid_planning_manager/planner_logic_interface.hpp>`.

doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp

@@ -37,14 +37,14 @@
 #include <pluginlib/class_loader.hpp>
 
 // MoveIt
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_interface/planning_interface.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/robot_model_loader/robot_model_loader.hpp>
+#include <moveit/planning_interface/planning_interface.hpp>
+#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/kinematic_constraints/utils.hpp>
 #include <moveit_msgs/msg/display_trajectory.hpp>
-#include <moveit_msgs/msg/planning_scene.h>
+#include <moveit_msgs/msg/planning_scene.hpp>
 #include <moveit_visual_tools/moveit_visual_tools.h>
-#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/move_group_interface/move_group_interface.hpp>
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("motion_planning_api_tutorial");
 
@@ -68,10 +68,10 @@ int main(int argc, char** argv)
   // interface to load any planner that you want to use. Before we can
   // load the planner, we need two objects, a RobotModel and a
   // PlanningScene. We will start by instantiating a
-  // :moveit_codedir:`RobotModelLoader<moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h>`
+  // :moveit_codedir:`RobotModelLoader<moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.hpp>`
   // object, which will look up the robot description on the ROS
   // parameter server and construct a
-  // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.h>`
+  // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.hpp>`
   // for us to use.
   const std::string PLANNING_GROUP = "panda_arm";
   robot_model_loader::RobotModelLoader robot_model_loader(motion_planning_api_tutorial_node, "robot_description");
@@ -81,9 +81,9 @@ int main(int argc, char** argv)
   const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
 
   // Using the
-  // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.h>`,
+  // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.hpp>`,
   // we can construct a
-  // :moveit_codedir:`PlanningScene<moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h>`
+  // :moveit_codedir:`PlanningScene<moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.hpp>`
   // that maintains the state of the world (including the robot).
   planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
 
@@ -186,7 +186,7 @@ int main(int argc, char** argv)
 
   // We will create the request as a constraint using a helper function available
   // from the
-  // :moveit_codedir:`kinematic_constraints<moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h>`
+  // :moveit_codedir:`kinematic_constraints<moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.hpp>`
   // package.
   moveit_msgs::msg::Constraints pose_goal =
       kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);

doc/examples/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp

@@ -37,12 +37,12 @@
 #include <pluginlib/class_loader.hpp>
 
 // MoveIt
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/robot_state/conversions.h>
-#include <moveit/planning_pipeline/planning_pipeline.h>
-#include <moveit/planning_interface/planning_interface.h>
-#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/robot_model_loader/robot_model_loader.hpp>
+#include <moveit/robot_state/conversions.hpp>
+#include <moveit/planning_pipeline/planning_pipeline.hpp>
+#include <moveit/planning_interface/planning_interface.hpp>
+#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
+#include <moveit/kinematic_constraints/utils.hpp>
 #include <moveit_msgs/msg/display_trajectory.hpp>
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <moveit_visual_tools/moveit_visual_tools.h>
@@ -67,10 +67,10 @@ int main(int argc, char** argv)
   // a RobotModel and a PlanningScene.
   //
   // We will start by instantiating a
-  // :moveit_codedir:`RobotModelLoader<moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h>`
+  // :moveit_codedir:`RobotModelLoader<moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.hpp>`
   // object, which will look up the robot description on the ROS
   // parameter server and construct a
-  // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.h>`
+  // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.hpp>`
   // for us to use.
   robot_model_loader::RobotModelLoaderPtr robot_model_loader(
       new robot_model_loader::RobotModelLoader(node, "robot_description"));
@@ -158,7 +158,7 @@ int main(int argc, char** argv)
 
   // We will create the request as a constraint using a helper
   // function available from the
-  // :moveit_codedir:`kinematic_constraints<moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h>`
+  // :moveit_codedir:`kinematic_constraints<moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.hpp>`
   // package.
   req.group_name = "panda_arm";
   moveit_msgs::msg::Constraints pose_goal =

doc/examples/move_group_interface/move_group_interface_tutorial.rst

@@ -5,7 +5,7 @@ Move Group C++ Interface
 .. image:: move_group_interface_tutorial_start_screen.png
    :width: 700px
 
-In MoveIt, the simplest user interface is through the :moveit_codedir:`MoveGroupInterface<moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h>` class.
+In MoveIt, the simplest user interface is through the :moveit_codedir:`MoveGroupInterface<moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.hpp>` class.
 It provides easy to use functionality for most operations that a user may want to carry out, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attaching/detaching objects from the robot.
 This interface communicates over ROS topics, services, and actions to the :moveit_codedir:`MoveGroup<moveit_ros/move_group/src/move_group.cpp>` node.
 

doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp

@@ -34,8 +34,8 @@
 
 /* Author: Sachin Chitta, Dave Coleman, Mike Lautman */
 
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/move_group_interface/move_group_interface.hpp>
+#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
 
 #include <moveit_msgs/msg/display_robot_state.hpp>
 #include <moveit_msgs/msg/display_trajectory.hpp>
@@ -74,12 +74,12 @@ int main(int argc, char** argv)
   static const std::string PLANNING_GROUP = "panda_arm";
 
   // The
-  // :moveit_codedir:`MoveGroupInterface<moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h>`
+  // :moveit_codedir:`MoveGroupInterface<moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.hpp>`
   // class can be easily set up using just the name of the planning group you would like to control and plan for.
   moveit::planning_interface::MoveGroupInterface move_group(move_group_node, PLANNING_GROUP);
 
   // We will use the
-  // :moveit_codedir:`PlanningSceneInterface<moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h>`
+  // :moveit_codedir:`PlanningSceneInterface<moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.hpp>`
   // class to add and remove collision objects in our "virtual world" scene
   moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
 

doc/examples/moveit_cpp/src/moveit_cpp_tutorial.cpp

@@ -1,8 +1,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <memory>
 // MoveitCpp
-#include <moveit/moveit_cpp/moveit_cpp.h>
-#include <moveit/moveit_cpp/planning_component.h>
+#include <moveit/moveit_cpp/moveit_cpp.hpp>
+#include <moveit/moveit_cpp/planning_component.hpp>
 
 #include <geometry_msgs/msg/point_stamped.h>
 

doc/examples/planning_scene/planning_scene_tutorial.rst

@@ -1,7 +1,7 @@
 Planning Scene
 ==================================
 
-The :moveit_codedir:`PlanningScene<moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h>` class provides the main interface that you will use
+The :moveit_codedir:`PlanningScene<moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.hpp>` class provides the main interface that you will use
 for collision checking and constraint checking. In this tutorial, we
 will explore the C++ interface to this class.
 

doc/examples/planning_scene/src/planning_scene_tutorial.cpp

@@ -1,10 +1,10 @@
 #include <rclcpp/rclcpp.hpp>
 
 // MoveIt
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_model_loader/robot_model_loader.hpp>
+#include <moveit/planning_scene/planning_scene.hpp>
 
-#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/kinematic_constraints/utils.hpp>
 
 // BEGIN_SUB_TUTORIAL stateFeasibilityTestExample
 //
@@ -38,12 +38,12 @@ int main(int argc, char** argv)
   // Setup
   // ^^^^^
   //
-  // The :moveit_codedir:`PlanningScene<moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h>`
+  // The :moveit_codedir:`PlanningScene<moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.hpp>`
   // class can be easily setup and configured using a
-  // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.h>`
+  // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.hpp>`
   // or a URDF and SRDF. This is, however, not the recommended way to instantiate a
   // PlanningScene. The
-  // :moveit_codedir:`PlanningSceneMonitor<moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h>`
+  // :moveit_codedir:`PlanningSceneMonitor<moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp>`
   // is the recommended method to create and maintain the current
   // planning scene (and is discussed in detail in the next tutorial)
   // using data from the robot's joints and the sensors on the robot. In
@@ -64,9 +64,9 @@ int main(int argc, char** argv)
   // current state is in *self-collision*, i.e. whether the current
   // configuration of the robot would result in the robot's parts
   // hitting each other. To do this, we will construct a
-  // :moveit_codedir:`CollisionRequest<moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h>`
+  // :moveit_codedir:`CollisionRequest<moveit_core/collision_detection/include/moveit/collision_detection/collision_common.hpp>`
   // object and a
-  // :moveit_codedir:`CollisionResult<moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h>`
+  // :moveit_codedir:`CollisionResult<moveit_core/collision_detection/include/moveit/collision_detection/collision_common.hpp>`
   // object and pass them
   // into the collision checking function. Note that the result of
   // whether the robot is in self-collision or not is contained within
@@ -151,7 +151,7 @@ int main(int argc, char** argv)
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   //
   // The
-  // :moveit_codedir:`AllowedCollisionMatrix<moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h>`
+  // :moveit_codedir:`AllowedCollisionMatrix<moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.hpp>`
   // (ACM)
   // provides a mechanism to tell the collision world to ignore
   // collisions between certain object: both parts of the robot and
@@ -200,7 +200,7 @@ int main(int argc, char** argv)
   // The PlanningScene class also includes easy to use function calls
   // for checking constraints. The constraints can be of two types:
   // (a) constraints chosen from the
-  // :moveit_codedir:`KinematicConstraint<moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h>`
+  // :moveit_codedir:`KinematicConstraint<moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.hpp>`
   // set: i.e. JointConstraint, PositionConstraint, OrientationConstraint and
   // VisibilityConstraint and (b) user
   // defined constraints specified through a callback. We will first
@@ -213,7 +213,7 @@ int main(int argc, char** argv)
   // on the end-effector of the panda_arm group of the Panda robot. Note the
   // use of convenience functions for filling up the constraints
   // (these functions are found in the
-  // :moveit_codedir:`utils.h<moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h>`
+  // :moveit_codedir:`utils.h<moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.hpp>`
   // file from the
   // kinematic_constraints directory in moveit_core).