removed optimiazation framework using casadi

sugikazu75 · Feb 5, 2025 · 7d1c4bc · 7d1c4bc
1 parent b9d8a43
commit 7d1c4bc
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Showing 2 changed files with 4 additions and 20 deletions.
diff --git a/aerial_robot_model/CMakeLists.txt b/aerial_robot_model/CMakeLists.txt
@@ -7,7 +7,6 @@ add_compile_options(-std=c++17)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  casadi_eigen
   eigen_conversions
   geometry_msgs
   interactive_markers
@@ -33,10 +32,6 @@ find_package(orocos_kdl REQUIRED)
 find_package(urdfdom_headers REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-set(CMAKE_CXX_STANDARD 17)
-find_package(pinocchio REQUIRED)
-find_package(casadi REQUIRED)
-
 include_directories(${orocos_kdl_INCLUDE_DIRS} ${urdfdom_headers_INCLUDE_DIRS})
 
 if(NOT CMAKE_BUILD_TYPE)
@@ -57,8 +52,8 @@ generate_messages(
 
 catkin_package(
   INCLUDE_DIRS include test
-  LIBRARIES aerial_robot_model aerial_robot_model_ros numerical_jacobians pinocchio_robot_model pinocchio_robot_model_ros robot_model_pluginlib
-  CATKIN_DEPENDS casadi_eigen eigen_conversions geometry_msgs interactive_markers kalman_filter kdl_parser message_runtime pluginlib sensor_msgs spinal std_msgs tf tf_conversions tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf_conversions urdf visualization_msgs
+  LIBRARIES aerial_robot_model aerial_robot_model_ros numerical_jacobians robot_model_pluginlib
+  CATKIN_DEPENDS eigen_conversions geometry_msgs interactive_markers kalman_filter kdl_parser message_runtime pluginlib sensor_msgs spinal std_msgs tf tf_conversions tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf_conversions urdf visualization_msgs
   DEPENDS orocos_kdl urdfdom_headers
 )
 
@@ -97,13 +92,6 @@ add_library(robot_model_pluginlib
   src/model/plugin/underactuated_tilted_robot_model.cpp)
 target_link_libraries(robot_model_pluginlib ${catkin_LIBRARIES} aerial_robot_model)
 
-add_library(pinocchio_robot_model src/model/base_model/pinocchio_robot_model.cpp)
-target_link_libraries(pinocchio_robot_model ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${pinocchio_LIBRARIES} casadi)
-add_library(pinocchio_robot_model_ros src/model/base_model/pinocchio_robot_model_ros.cpp)
-target_link_libraries(pinocchio_robot_model_ros ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${pinocchio_LIBRARIES} pinocchio_robot_model)
-add_executable(pinocchio_test src/model/base_model/pinocchio_test.cpp)
-target_link_libraries(pinocchio_test ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${pinocchio_LIBRARIES} pinocchio_robot_model_ros)
-
 add_library(servo_bridge src/servo_bridge/servo_bridge.cpp)
 target_link_libraries(servo_bridge ${catkin_LIBRARIES})
 add_executable(servo_bridge_node src/servo_bridge/servo_bridge_node.cpp)
@@ -123,11 +111,11 @@ target_link_libraries(numerical_jacobians aerial_robot_model ${catkin_LIBRARIES}
 install(DIRECTORY include/${PROJECT_NAME}/ test/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-install(TARGETS aerial_robot_model aerial_robot_model_ros pinocchio_robot_model pinocchio_robot_model_ros robot_model_pluginlib servo_bridge numerical_jacobians
+install(TARGETS aerial_robot_model aerial_robot_model_ros robot_model_pluginlib servo_bridge numerical_jacobians
   DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 
-install(TARGETS rotor_tf_publisher interactive_marker_tf_broadcaster servo_bridge_node pinocchio_test
+install(TARGETS rotor_tf_publisher interactive_marker_tf_broadcaster servo_bridge_node
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

diff --git a/aerial_robot_model/package.xml b/aerial_robot_model/package.xml
@@ -12,8 +12,6 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>eigen_conversions</build_depend>
-  <build_depend>casadi</build_depend>
-  <build_depend>casadi_eigen</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>interactive_markers</build_depend>
   <build_depend>kalman_filter</build_depend>
@@ -35,8 +33,6 @@
   <build_depend>urdf</build_depend>
   <build_depend>visualization_msgs</build_depend>
 
-  <run_depend>casadi</run_depend>
-  <run_depend>casadi_eigen</run_depend>
   <run_depend>eigen_conversions</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>interactive_markers</run_depend>