Fix build

.styleguide

@@ -24,8 +24,6 @@ licenseUpdateExclude {
 
 includeOtherLibs {
   ^Eigen/
-  ^fmt/
   ^casadi/
   ^sleipnir/
-  ^gtest/
 }

emscripten/.styleguide

@@ -0,0 +1,31 @@
+cppHeaderFileInclude {
+  \.h$
+  \.hpp$
+  \.inc$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+modifiableFileExclude {
+  jni/jni\.h$
+  jni/darwin/jni_md\.h$
+  jni/linux/jni_md\.h$
+  jni/win32/jni_md\.h$
+  \.jar$
+}
+
+licenseUpdateExclude {
+  java/src/main/java/org/team2363/util/DependencyExtractor\.java$
+  java/src/main/java/org/team2363/util/RuntimeDetector\.java$
+  java/src/main/java/org/team2363/util/RuntimeLoader\.java$
+}
+
+includeOtherLibs {
+  ^Eigen/
+  ^casadi/
+  ^emscripten/
+  ^sleipnir/
+  ^trajopt/
+}

emscripten/TrajoptLibEmbind.cpp

@@ -1,15 +1,14 @@
 // Copyright (c) TrajoptLib contributors
 
-#include <drivetrain/SwerveDrivetrain.h>
-#include <drivetrain/SwerveModule.h>
-#include <emscripten/bind.h>
-#include <path/HolonomicPath.h>
-#include <trajectory/HolonomicTrajectory.h>
-#include <trajectory/HolonomicTrajectorySample.h>
-
 #include <vector>
 
-#include <OptimalTrajectoryGenerator.h>
+#include <emscripten/bind.h>
+#include <trajopt/OptimalTrajectoryGenerator.h>
+#include <trajopt/drivetrain/SwerveDrivetrain.h>
+#include <trajopt/drivetrain/SwerveModule.h>
+#include <trajopt/path/HolonomicPath.h>
+#include <trajopt/trajectory/HolonomicTrajectory.h>
+#include <trajopt/trajectory/HolonomicTrajectorySample.h>
 
 using namespace emscripten;
 using namespace trajopt;

include/trajopt/trajectory/HolonomicTrajectory.h

@@ -31,6 +31,13 @@ class TRAJOPT_DLLEXPORT HolonomicTrajectory {
    * @param solution The solution.
    */
   explicit HolonomicTrajectory(const HolonomicSolution& solution);
+
+  /**
+   * Construct a HolonomicTrajectory from a solution.
+   *
+   * @param solution The solution.
+   */
+  static HolonomicTrajectory FromSolution(const HolonomicSolution& solution);
 };
 
 }  // namespace trajopt

include/trajopt/trajectory/HolonomicTrajectorySample.h

@@ -43,9 +43,9 @@ class TRAJOPT_DLLEXPORT HolonomicTrajectorySample {
    * @param velocityY The velocity's y component.
    * @param angularVelocity The angular velocity.
    */
-  // HolonomicTrajectorySample(double timestamp, double x, double y,
-  //                           double heading, double velocityX, double
-  //                           velocityY, double angularVelocity);
+  HolonomicTrajectorySample(double timestamp, double x, double y,
+                            double heading, double velocityX, double velocityY,
+                            double angularVelocity);
 };
 
 }  // namespace trajopt

src/trajectory/HolonomicTrajectory.cpp

@@ -24,6 +24,7 @@ HolonomicTrajectory HolonomicTrajectory::FromSolution(
         ts, solution.x[samp], solution.y[samp], solution.theta[samp],
         solution.vx[samp], solution.vy[samp], solution.omega[samp]});
   }
-  return {samples};
+  return HolonomicTrajectory{samples};
 }
+
 }  // namespace trajopt

src/trajectory/HolonomicTrajectorySample.cpp

@@ -4,19 +4,17 @@
 
 namespace trajopt {
 
-// HolonomicTrajectorySample::HolonomicTrajectorySample(double timestamp, double
-// x,
-//                                                      double y, double
-//                                                      heading, double
-//                                                      velocityX, double
-//                                                      velocityY, double
-//                                                      angularVelocity)
-//     : timestamp(timestamp),
-//       x(x),
-//       y(y),
-//       heading(heading),
-//       velocityX(velocityX),
-//       velocityY(velocityY),
-//       angularVelocity(angularVelocity) {}
+HolonomicTrajectorySample::HolonomicTrajectorySample(double timestamp, double x,
+                                                     double y, double heading,
+                                                     double velocityX,
+                                                     double velocityY,
+                                                     double angularVelocity)
+    : timestamp(timestamp),
+      x(x),
+      y(y),
+      heading(heading),
+      velocityX(velocityX),
+      velocityY(velocityY),
+      angularVelocity(angularVelocity) {}
 
 }  // namespace trajopt