Remove references to Drake

Fixes #5426.
wpilibsuite · Jul 9, 2023 · 4d2fa80 · 4d2fa80
1 parent d37f990
commit 4d2fa80
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Showing 5 changed files with 1 addition and 36 deletions.
diff --git a/ThirdPartyNotices.txt b/ThirdPartyNotices.txt
@@ -41,9 +41,6 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
                       wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
                       wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
-Drake                 wpimath/src/main/native/thirdparty/drake/
-                      wpimath/src/test/native/cpp/drake/
-                      wpimath/src/test/native/include/drake/
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
 

diff --git a/docs/build.gradle b/docs/build.gradle
@@ -67,9 +67,6 @@ doxygen {
     cppIncludeRoots << '../ntcore/build/generated/main/native/include/'
 
     if (project.hasProperty('docWarningsAsErrors')) {
-        // Drake
-        exclude 'drake/common/**'
-
         // Eigen
         exclude 'Eigen/**'
         exclude 'unsupported/**'

diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
@@ -89,8 +89,7 @@ if (WITH_JAVA)
 
 endif()
 
-file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp
-                                     src/main/native/thirdparty/drake/src/*.cpp)
+file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp)
 list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
@@ -118,10 +117,6 @@ else()
     target_link_libraries (wpimath Eigen3::Eigen)
 endif()
 
-install(DIRECTORY src/main/native/thirdparty/drake/include/ DESTINATION "${include_dest}/wpimath")
-target_include_directories(wpimath SYSTEM PUBLIC
-                           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/drake/include>)
-
 install(DIRECTORY src/main/native/thirdparty/gcem/include/ DESTINATION "${include_dest}/wpimath")
 target_include_directories(wpimath SYSTEM PUBLIC
                           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/gcem/include>)

diff --git a/wpimath/build.gradle b/wpimath/build.gradle
@@ -9,30 +9,11 @@ ext {
 
     nativeName = 'wpimath'
     devMain = 'edu.wpi.first.math.DevMain'
-
-    splitSetup = {
-        it.sources {
-            drakeCpp(CppSourceSet) {
-                source {
-                    srcDirs 'src/main/native/thirdparty/drake/src'
-                    include '**/*.cpp'
-                }
-                exportedHeaders {
-                    srcDirs 'src/main/native/thirdparty/drake/include',
-                            'src/main/native/thirdparty/eigen/include',
-                            'src/main/native/thirdparty/gcem/include'
-                }
-            }
-        }
-    }
 }
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
 cppHeadersZip {
-    from('src/main/native/thirdparty/drake/include') {
-        into '/'
-    }
     from('src/main/native/thirdparty/eigen/include') {
         into '/'
     }
@@ -47,7 +28,6 @@ model {
             it.sources.each {
                 it.exportedHeaders {
                     srcDirs 'src/main/native/include',
-                            'src/main/native/thirdparty/drake/include',
                             'src/main/native/thirdparty/eigen/include',
                             'src/main/native/thirdparty/gcem/include'
                 }

diff --git a/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp b/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
@@ -6,8 +6,6 @@
 
 #include "frc/estimator/MerweScaledSigmaPoints.h"
 
-namespace drake::math {
-namespace {
 TEST(MerweScaledSigmaPointsTest, ZeroMean) {
   frc::MerweScaledSigmaPoints<2> sigmaPoints;
   auto points = sigmaPoints.SquareRootSigmaPoints(
@@ -30,5 +28,3 @@ TEST(MerweScaledSigmaPointsTest, NonzeroMean) {
                                    {2.0, 2.0, 2.00548, 2.0, 1.99452}})
           .norm() < 1e-3);
 }
-}  // namespace
-}  // namespace drake::math