Move VelocitySmoothing to new motion_planning library

Co-authored-by: RomanBapst <bapstroman@gmail.com>

src/lib/CMakeLists.txt

@@ -54,6 +54,7 @@ add_subdirectory(led)
 add_subdirectory(mathlib)
 add_subdirectory(mixer)
 add_subdirectory(mixer_module)
+add_subdirectory(motion_planning)
 add_subdirectory(output_limit)
 add_subdirectory(perf)
 add_subdirectory(pid)

src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp

@@ -41,7 +41,7 @@
 #pragma once
 
 #include "FlightTaskAutoMapper.hpp"
-#include "VelocitySmoothing.hpp"
+#include <motion_planning/VelocitySmoothing.hpp>
 
 class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper
 {

src/lib/flight_tasks/tasks/Utility/CMakeLists.txt

@@ -33,7 +33,6 @@
 
 px4_add_library(FlightTaskUtility
 	StraightLine.cpp
-	VelocitySmoothing.cpp
 	ManualVelocitySmoothingXY.cpp
 	ManualVelocitySmoothingZ.cpp
 	Sticks.cpp
@@ -41,8 +40,7 @@ px4_add_library(FlightTaskUtility
 	StickYaw.cpp
 )
 
-target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis bezier SlewRate)
+target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis bezier SlewRate motion_planning)
 target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
-px4_add_unit_gtest(SRC VelocitySmoothingTest.cpp LINKLIBS FlightTaskUtility)
 px4_add_unit_gtest(SRC ManualVelocitySmoothingXYTest.cpp LINKLIBS FlightTaskUtility)

src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXY.hpp

@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include "VelocitySmoothing.hpp"
+#include <motion_planning/VelocitySmoothing.hpp>
 
 #include <matrix/matrix/math.hpp>
 

src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingZ.hpp

@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include "VelocitySmoothing.hpp"
+#include <motion_planning/VelocitySmoothing.hpp>
 
 class ManualVelocitySmoothingZ final
 {

src/lib/motion_planning/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2018 - 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(motion_planning
+	VelocitySmoothing.cpp
+)
+
+target_include_directories(motion_planning PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+px4_add_unit_gtest(SRC VelocitySmoothingTest.cpp LINKLIBS motion_planning)