Simplify include of tf2_eigen.hpp

rhaschke · rhaschke · commit 0c0f47f151b4 · 2025-10-09T15:54:10.000+02:00
diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
@@ -42,11 +42,7 @@
 #include <moveit/trajectory_processing/time_parameterization.hpp>
 #include <moveit/kinematics_base/kinematics_base.hpp>
 #include <moveit/robot_state/cartesian_interpolator.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 using namespace trajectory_processing;
 
diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -43,11 +43,7 @@
 #include <moveit_msgs/msg/motion_plan_request.hpp>
 #include <moveit/kinematic_constraints/utils.hpp>
 
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/stages/compute_ik.cpp b/core/src/stages/compute_ik.cpp
@@ -44,11 +44,7 @@
 #include <moveit/robot_state/robot_state.hpp>
 
 #include <Eigen/Geometry>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <chrono>
 #include <functional>
 #include <iterator>
diff --git a/core/src/stages/fix_collision_objects.cpp b/core/src/stages/fix_collision_objects.cpp
@@ -44,11 +44,7 @@
 #include <moveit/task_constructor/cost_terms.h>
 
 #include <rviz_marker_tools/marker_creation.h>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <Eigen/Geometry>
 #include <rclcpp/logging.hpp>
 
diff --git a/core/src/stages/generate_grasp_pose.cpp b/core/src/stages/generate_grasp_pose.cpp
@@ -43,11 +43,7 @@
 #include <moveit/robot_state/conversions.hpp>
 
 #include <Eigen/Geometry>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/stages/generate_place_pose.cpp b/core/src/stages/generate_place_pose.cpp
@@ -45,11 +45,7 @@
 #include <moveit/robot_state/attached_body.hpp>
 
 #include <Eigen/Geometry>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/stages/generate_random_pose.cpp b/core/src/stages/generate_random_pose.cpp
@@ -41,11 +41,7 @@
 #include <rviz_marker_tools/marker_creation.h>
 
 #include <Eigen/Geometry>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 #include <fmt/format.h>
 #include <chrono>
diff --git a/core/src/stages/move_relative.cpp b/core/src/stages/move_relative.cpp
@@ -41,11 +41,7 @@
 
 #include <moveit/planning_scene/planning_scene.hpp>
 #include <rviz_marker_tools/marker_creation.h>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/stages/move_to.cpp b/core/src/stages/move_to.cpp
@@ -44,11 +44,7 @@
 #include <moveit/task_constructor/utils.h>
 
 #include <rviz_marker_tools/marker_creation.h>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <moveit/robot_state/conversions.hpp>
 
 namespace moveit {
diff --git a/core/src/stages/simple_grasp.cpp b/core/src/stages/simple_grasp.cpp
@@ -44,11 +44,7 @@
 #include <moveit/planning_scene/planning_scene.hpp>
 
 #include <Eigen/Geometry>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/utils.cpp b/core/src/utils.cpp
@@ -35,11 +35,7 @@
 
 /* Authors: Michael Goerner, Robert Haschke */
 
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 #include <moveit/robot_state/robot_state.hpp>
 #include <moveit/planning_scene/planning_scene.hpp>
diff --git a/core/test/test_move_to.cpp b/core/test/test_move_to.cpp
@@ -10,11 +10,7 @@
 
 #include <moveit/planning_scene/planning_scene.hpp>
 
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 #include <moveit_msgs/msg/robot_state.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
diff --git a/rviz_marker_tools/src/marker_creation.cpp b/rviz_marker_tools/src/marker_creation.cpp
@@ -1,10 +1,6 @@
 #include <rviz_marker_tools/marker_creation.h>
 #include <urdf_model/link.h>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 #include <rclcpp/logging.hpp>
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("rviz_marker_tools");
diff --git a/visualization/visualization_tools/src/marker_visualization.cpp b/visualization/visualization_tools/src/marker_visualization.cpp
@@ -11,11 +11,7 @@
 #include <OgreSceneNode.h>
 #include <tf2_msgs/msg/tf2_error.hpp>
 #include <rclcpp/logging.hpp>
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_task_constructor_visualization.marker_visualization");
 
