From b83c490464bcf2b33c43679a0f2fe2f0c049537b Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Tue, 20 Feb 2024 18:01:09 +0100
Subject: [PATCH] setup for implementation of representation models

---
 .../__init__.py                               |  0
 .../models/__init__.py                        |  0
 .../models/dmp.py                             |  1 +
 .../models/dual_quaternion_splines.py         |  0
 .../models/hermite_splines.py                 |  1 +
 .../models/promp.py                           |  1 +
 .../policy_representation_node.py             |  1 +
 .../package.xml                               | 23 +++++++++++++++++
 .../interaction_policy_representation         |  0
 .../setup.cfg                                 |  4 +++
 .../setup.py                                  | 25 +++++++++++++++++++
 .../test/test_copyright.py                    | 25 +++++++++++++++++++
 .../test/test_flake8.py                       | 25 +++++++++++++++++++
 .../test/test_pep257.py                       | 23 +++++++++++++++++
 14 files changed, 129 insertions(+)
 create mode 100644 src/interaction_policy_representation/interaction_policy_representation/__init__.py
 create mode 100644 src/interaction_policy_representation/interaction_policy_representation/models/__init__.py
 create mode 100644 src/interaction_policy_representation/interaction_policy_representation/models/dmp.py
 create mode 100644 src/interaction_policy_representation/interaction_policy_representation/models/dual_quaternion_splines.py
 create mode 100644 src/interaction_policy_representation/interaction_policy_representation/models/hermite_splines.py
 create mode 100644 src/interaction_policy_representation/interaction_policy_representation/models/promp.py
 create mode 100644 src/interaction_policy_representation/interaction_policy_representation/policy_representation_node.py
 create mode 100644 src/interaction_policy_representation/package.xml
 create mode 100644 src/interaction_policy_representation/resource/interaction_policy_representation
 create mode 100644 src/interaction_policy_representation/setup.cfg
 create mode 100644 src/interaction_policy_representation/setup.py
 create mode 100644 src/interaction_policy_representation/test/test_copyright.py
 create mode 100644 src/interaction_policy_representation/test/test_flake8.py
 create mode 100644 src/interaction_policy_representation/test/test_pep257.py

diff --git a/src/interaction_policy_representation/interaction_policy_representation/__init__.py b/src/interaction_policy_representation/interaction_policy_representation/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/interaction_policy_representation/interaction_policy_representation/models/__init__.py b/src/interaction_policy_representation/interaction_policy_representation/models/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/interaction_policy_representation/interaction_policy_representation/models/dmp.py b/src/interaction_policy_representation/interaction_policy_representation/models/dmp.py
new file mode 100644
index 0000000..f87f5c1
--- /dev/null
+++ b/src/interaction_policy_representation/interaction_policy_representation/models/dmp.py
@@ -0,0 +1 @@
+# TODO
\ No newline at end of file
diff --git a/src/interaction_policy_representation/interaction_policy_representation/models/dual_quaternion_splines.py b/src/interaction_policy_representation/interaction_policy_representation/models/dual_quaternion_splines.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/interaction_policy_representation/interaction_policy_representation/models/hermite_splines.py b/src/interaction_policy_representation/interaction_policy_representation/models/hermite_splines.py
new file mode 100644
index 0000000..f87f5c1
--- /dev/null
+++ b/src/interaction_policy_representation/interaction_policy_representation/models/hermite_splines.py
@@ -0,0 +1 @@
+# TODO
\ No newline at end of file
diff --git a/src/interaction_policy_representation/interaction_policy_representation/models/promp.py b/src/interaction_policy_representation/interaction_policy_representation/models/promp.py
new file mode 100644
index 0000000..f87f5c1
--- /dev/null
+++ b/src/interaction_policy_representation/interaction_policy_representation/models/promp.py
@@ -0,0 +1 @@
+# TODO
\ No newline at end of file
diff --git a/src/interaction_policy_representation/interaction_policy_representation/policy_representation_node.py b/src/interaction_policy_representation/interaction_policy_representation/policy_representation_node.py
new file mode 100644
index 0000000..f87f5c1
--- /dev/null
+++ b/src/interaction_policy_representation/interaction_policy_representation/policy_representation_node.py
@@ -0,0 +1 @@
+# TODO
\ No newline at end of file
diff --git a/src/interaction_policy_representation/package.xml b/src/interaction_policy_representation/package.xml
new file mode 100644
index 0000000..3539ac9
--- /dev/null
+++ b/src/interaction_policy_representation/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>interaction_policy_representation</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>geometry_msgs</depend>
+  <depend>interaction_msgs</depend>
+  <depend>control_msgs</depend>
+  <depend>moveit_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/src/interaction_policy_representation/resource/interaction_policy_representation b/src/interaction_policy_representation/resource/interaction_policy_representation
new file mode 100644
index 0000000..e69de29
diff --git a/src/interaction_policy_representation/setup.cfg b/src/interaction_policy_representation/setup.cfg
new file mode 100644
index 0000000..3c055a3
--- /dev/null
+++ b/src/interaction_policy_representation/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/interaction_policy_representation
+[install]
+install_scripts=$base/lib/interaction_policy_representation
diff --git a/src/interaction_policy_representation/setup.py b/src/interaction_policy_representation/setup.py
new file mode 100644
index 0000000..f99684c
--- /dev/null
+++ b/src/interaction_policy_representation/setup.py
@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'interaction_policy_representation'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='niko',
+    maintainer_email='nikolaus.feith@unileoben.ac.at',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)
diff --git a/src/interaction_policy_representation/test/test_copyright.py b/src/interaction_policy_representation/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/src/interaction_policy_representation/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/src/interaction_policy_representation/test/test_flake8.py b/src/interaction_policy_representation/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/src/interaction_policy_representation/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/src/interaction_policy_representation/test/test_pep257.py b/src/interaction_policy_representation/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/src/interaction_policy_representation/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'