From ff475a667d0f71ac40fca5604575a26380a76612 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Tue, 18 Jun 2024 23:41:58 -0700
Subject: [PATCH] Reduce macro usage in OptimalTrajectoryGenerator.cpp (#182)

---
 include/trajopt/OptimalTrajectoryGenerator.h |  1 -
 src/OptimalTrajectoryGenerator.cpp           | 17 +++++++----------
 2 files changed, 7 insertions(+), 11 deletions(-)

diff --git a/include/trajopt/OptimalTrajectoryGenerator.h b/include/trajopt/OptimalTrajectoryGenerator.h
index 4b9cbc4d..62586954 100644
--- 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
index 9f728811..79607886 100644
--- 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