From f5a35ec2bd982088161315e6221f7e0f0ef20c37 Mon Sep 17 00:00:00 2001
From: Juancho <juanjqogm@gmail.com>
Date: Wed, 7 Jun 2023 10:47:21 +0900
Subject: [PATCH] updated the class

---
 .gitmodules                                  | 3 +++
 CMakeLists.txt                               | 3 +++
 constraints_manager                          | 1 +
 include/quadratic_program_motion_generator.h | 2 +-
 include/robot_interface_franka.h             | 4 ++--
 src/motion_generator.cpp                     | 2 +-
 src/quadratic_program_motion_generator.cpp   | 2 +-
 7 files changed, 12 insertions(+), 5 deletions(-)
 create mode 100644 .gitmodules
 create mode 160000 constraints_manager

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..d165ae0
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "constraints_manager"]
+	path = constraints_manager
+	url = https://github.com/juanjqo/constraints_manager.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f451189..3c29e91 100644
--- a/CMakeLists.txt
+++ b/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
     )
 
 
diff --git a/constraints_manager b/constraints_manager
new file mode 160000
index 0000000..920afaf
--- /dev/null
+++ b/constraints_manager
@@ -0,0 +1 @@
+Subproject commit 920afaf5ff68ae76a0ac63869dbd4acb1842f15e
diff --git a/include/quadratic_program_motion_generator.h b/include/quadratic_program_motion_generator.h
index 6030fe8..dcb0445 100644
--- a/include/quadratic_program_motion_generator.h
+++ b/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;
diff --git a/include/robot_interface_franka.h b/include/robot_interface_franka.h
index 9c87636..ccd9a77 100644
--- a/include/robot_interface_franka.h
+++ b/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>
 
diff --git a/src/motion_generator.cpp b/src/motion_generator.cpp
index 351225c..f323020 100644
--- a/src/motion_generator.cpp
+++ b/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>
diff --git a/src/quadratic_program_motion_generator.cpp b/src/quadratic_program_motion_generator.cpp
index a5016a0..db13014 100644
--- a/src/quadratic_program_motion_generator.cpp
+++ b/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,