Reduce macro usage in OptimalTrajectoryGenerator.cpp (#182)

SleipnirGroup · Jun 19, 2024 · ff475a6 · ff475a6
1 parent c54d877
commit ff475a6
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Showing 2 changed files with 7 additions and 11 deletions.
diff --git a/include/trajopt/OptimalTrajectoryGenerator.h b/include/trajopt/OptimalTrajectoryGenerator.h
@@ -8,7 +8,6 @@
 
 #include "trajopt/SymbolExports.h"
 #include "trajopt/expected"
-#include "trajopt/path/Path.h"
 #include "trajopt/path/SwervePathBuilder.h"
 #include "trajopt/solution/SwerveSolution.h"
 

diff --git a/src/OptimalTrajectoryGenerator.cpp b/src/OptimalTrajectoryGenerator.cpp
@@ -2,29 +2,26 @@
 
 #include "trajopt/OptimalTrajectoryGenerator.h"
 
-#include <stdint.h>
-
-#include "trajopt/expected"
-#include "trajopt/path/SwervePathBuilder.h"
-
 #if defined(OPTIMIZER_BACKEND_CASADI)
 #include "optimization/CasADiOpti.h"
-#define _OPTI_BACKEND casadi::MX, CasADiOpti
 #elif defined(OPTIMIZER_BACKEND_SLEIPNIR)
 #include "optimization/SleipnirOpti.h"
-#define _OPTI_BACKEND SleipnirExpr, SleipnirOpti
 #endif
-#include "trajopt/drivetrain/SwerveDrivetrain.h"
+
 #include "optimization/algorithms/SwerveDiscreteOptimal.h"
-#include "trajopt/solution/SwerveSolution.h"
 
 namespace trajopt {
 
 expected<SwerveSolution, std::string> OptimalTrajectoryGenerator::Generate(
     const SwervePathBuilder& path, bool diagnostics, int64_t handle) {
-  SwerveDiscreteOptimal<_OPTI_BACKEND> problem(
+#if defined(OPTIMIZER_BACKEND_CASADI)
+  SwerveDiscreteOptimal<casadi::MX, CasADiOpti> problem(
+#elif defined(OPTIMIZER_BACKEND_SLEIPNIR)
+  SwerveDiscreteOptimal<SleipnirExpr, SleipnirOpti> problem(
+#endif
       path.GetPath(), path.GetControlIntervalCounts(),
       path.CalculateInitialGuess(), handle);
   return problem.Generate(diagnostics);
 }
+
 }  // namespace trajopt