schema: Move rotation and transform out of dev

RobotLocomotion · Aug 27, 2020 · 3789c32 · 3789c32
1 parent 6bd91f5
commit 3789c32
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Showing 11 changed files with 53 additions and 67 deletions.
diff --git a/common/schema/BUILD.bazel b/common/schema/BUILD.bazel
@@ -15,7 +15,20 @@ drake_cc_package_library(
     name = "schema",
     visibility = ["//visibility:public"],
     deps = [
+        ":rotation",
         ":stochastic",
+        ":transform",
+    ],
+)
+
+drake_cc_library(
+    name = "rotation",
+    srcs = ["rotation.cc"],
+    hdrs = ["rotation.h"],
+    deps = [
+        ":stochastic",
+        "//common:name_value",
+        "//math:geometric_transform",
     ],
 )
 
@@ -32,8 +45,30 @@ drake_cc_library(
     ],
 )
 
+drake_cc_library(
+    name = "transform",
+    srcs = ["transform.cc"],
+    hdrs = ["transform.h"],
+    deps = [
+        ":rotation",
+        ":stochastic",
+        "//common:name_value",
+        "//math:geometric_transform",
+    ],
+)
+
 # === test/ ===
 
+drake_cc_googletest(
+    name = "rotation_test",
+    deps = [
+        ":rotation",
+        "//common/test_utilities:eigen_matrix_compare",
+        "//common/yaml:yaml_read_archive",
+        "//common/yaml:yaml_write_archive",
+    ],
+)
+
 drake_cc_googletest(
     name = "stochastic_test",
     deps = [
@@ -44,4 +79,14 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "transform_test",
+    deps = [
+        ":transform",
+        "//common/test_utilities:eigen_matrix_compare",
+        "//common/test_utilities:symbolic_test_util",
+        "//common/yaml:yaml_read_archive",
+    ],
+)
+
 add_lint_tests()
diff --git a/common/schema/dev/BUILD.bazel b/common/schema/dev/BUILD.bazel
diff --git a/common/schema/dev/rotation.cc → common/schema/rotation.cc b/common/schema/dev/rotation.cc → common/schema/rotation.cc
@@ -1,4 +1,4 @@
-#include "drake/common/schema/dev/rotation.h"
+#include "drake/common/schema/rotation.h"
 
 #include "drake/common/drake_throw.h"
 #include "drake/math/random_rotation.h"

diff --git a/common/schema/dev/rotation.h → common/schema/rotation.h b/common/schema/dev/rotation.h → common/schema/rotation.h
diff --git a/common/schema/dev/test/rotation_test.cc → common/schema/test/rotation_test.cc b/common/schema/dev/test/rotation_test.cc → common/schema/test/rotation_test.cc
@@ -1,4 +1,4 @@
-#include "drake/common/schema/dev/rotation.h"
+#include "drake/common/schema/rotation.h"
 
 #include <gtest/gtest.h>
 

diff --git a/common/schema/dev/test/transform_test.cc → common/schema/test/transform_test.cc b/common/schema/dev/test/transform_test.cc → common/schema/test/transform_test.cc
@@ -1,4 +1,4 @@
-#include "drake/common/schema/dev/transform.h"
+#include "drake/common/schema/transform.h"
 
 #include <gtest/gtest.h>
 

diff --git a/common/schema/dev/transform.cc → common/schema/transform.cc b/common/schema/dev/transform.cc → common/schema/transform.cc
@@ -1,4 +1,4 @@
-#include "drake/common/schema/dev/transform.h"
+#include "drake/common/schema/transform.h"
 
 #include <stdexcept>
 

diff --git a/common/schema/dev/transform.h → common/schema/transform.h b/common/schema/dev/transform.h → common/schema/transform.h
@@ -4,7 +4,7 @@
 #include <string>
 
 #include "drake/common/name_value.h"
-#include "drake/common/schema/dev/rotation.h"
+#include "drake/common/schema/rotation.h"
 #include "drake/common/schema/stochastic.h"
 #include "drake/math/rigid_transform.h"
 

diff --git a/multibody/parsing/dev/BUILD.bazel b/multibody/parsing/dev/BUILD.bazel
@@ -48,7 +48,7 @@ drake_cc_library(
     deps = [
         "//common:essential",
         "//common:name_value",
-        "//common/schema/dev:transform",
+        "//common/schema:transform",
         "//math:geometric_transform",
     ],
 )

diff --git a/multibody/parsing/dev/model_directives.h b/multibody/parsing/dev/model_directives.h
@@ -11,7 +11,7 @@
 
 #include "drake/common/eigen_types.h"
 #include "drake/common/name_value.h"
-#include "drake/common/schema/dev/transform.h"
+#include "drake/common/schema/transform.h"
 #include "drake/common/text_logging.h"
 #include "drake/math/rigid_transform.h"
 #include "drake/math/roll_pitch_yaw.h"

diff --git a/multibody/parsing/dev/process_model_directives.cc b/multibody/parsing/dev/process_model_directives.cc
@@ -7,7 +7,7 @@
 
 #include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"
-#include "drake/common/schema/dev/transform.h"
+#include "drake/common/schema/transform.h"
 #include "drake/common/yaml/yaml_read_archive.h"
 #include "drake/multibody/parsing/parser.h"