updated the class

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "constraints_manager"]
+	path = constraints_manager
+	url = https://github.com/juanjqo/constraints_manager.git

CMakeLists.txt

@@ -43,6 +43,8 @@ add_library(MotionGenerator src/motion_generator.cpp)
 target_link_libraries(MotionGenerator Franka::Franka)
 
 
+add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
+
 add_library(QuadraticProgramMotionGenerator src/quadratic_program_motion_generator.cpp)
 target_link_libraries(QuadraticProgramMotionGenerator
                        qpOASES
@@ -71,6 +73,7 @@ include_directories(
     include
     src/
     ${catkin_INCLUDE_DIRS}
+    constraints_manager/include
     )
 
 

include/quadratic_program_motion_generator.h

@@ -6,7 +6,7 @@
 #include <iostream>
 #include <dqrobotics/solvers/DQ_QPOASESSolver.h>
 #include <memory>
-#include "ConstraintsManager.h"
+#include "constraints_manager.h"
 
 
 using namespace DQ_robotics;

include/robot_interface_franka.h

@@ -8,9 +8,9 @@
 #include <franka/robot.h>
 #include <franka/gripper.h>
 #include <franka/exception.h>
-#include "MotionGenerator.h"
+#include "motion_generator.h"
 #include <thread>
-#include "QuadraticProgramMotionGenerator.h"
+#include "quadratic_program_motion_generator.h"
 #include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
 #include <atomic>
 

src/motion_generator.cpp

@@ -1,6 +1,6 @@
 // Copyright (c) 2017 Franka Emika GmbH
 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
-#include "MotionGenerator.h"
+#include "motion_generator.h"
 #include <algorithm>
 #include <array>
 #include <cmath>

src/quadratic_program_motion_generator.cpp

@@ -1,4 +1,4 @@
-#include "QuadraticProgramMotionGenerator.h"
+#include "quadratic_program_motion_generator.h"
 
 
 QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor,