From 93cb7c0ebf2983b4cb040176c0dd177ce2463d93 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Fri, 22 Aug 2025 15:05:05 +0200
Subject: [PATCH 1/6] Fix tf2*.h compile deprecations

using tf2 *.h hesders is deprecated ->switch to *.hpp
---
 doc/examples/trajopt_planner/src/trajopt_example.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/examples/trajopt_planner/src/trajopt_example.cpp b/doc/examples/trajopt_planner/src/trajopt_example.cpp
index 7f165b12f1..023f75aed0 100644
--- a/doc/examples/trajopt_planner/src/trajopt_example.cpp
+++ b/doc/examples/trajopt_planner/src/trajopt_example.cpp
@@ -17,9 +17,9 @@
 #include <moveit_msgs/PlanningScene.h>
 
 #include <geometry_msgs/TransformStamped.h>
-#include <tf2/utils.h>
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2/utils.hpp>
+#include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2_ros/transform_listener.hpp>
 
 /* Author: Omid Heidari
    Desc: This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in

From ed1fa5a894c16e158b63d0467fa61293091a7a87 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Wed, 3 Sep 2025 17:06:37 +0200
Subject: [PATCH 2/6] Update trajopt_example.cpp

---
 .../trajopt_planner/src/trajopt_example.cpp      | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/doc/examples/trajopt_planner/src/trajopt_example.cpp b/doc/examples/trajopt_planner/src/trajopt_example.cpp
index 023f75aed0..a1c12a2a3c 100644
--- a/doc/examples/trajopt_planner/src/trajopt_example.cpp
+++ b/doc/examples/trajopt_planner/src/trajopt_example.cpp
@@ -17,9 +17,19 @@
 #include <moveit_msgs/PlanningScene.h>
 
 #include <geometry_msgs/TransformStamped.h>
-#include <tf2/utils.hpp>
-#include <tf2_eigen/tf2_eigen.hpp>
-#include <tf2_ros/transform_listener.hpp>
+
+// TODO(mosfet80): remove else after EOL galactic
+#if __has_include(<tf2/utils.hpp>)
+   #include <tf2/utils.hpp>
+   #include <tf2_eigen/tf2_eigen.hpp>
+   #include <tf2_ros/transform_listener.hpp>
+#else
+   #include <tf2/utils.h>
+   #include <tf2_eigen/tf2_eigen.h>
+   #include <tf2_ros/transform_listener.h>
+#endif
+
+
 
 /* Author: Omid Heidari
    Desc: This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in

From 0c9004c1fb91e0ca4b9c496d5179529886eb3832 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Wed, 3 Sep 2025 17:09:13 +0200
Subject: [PATCH 3/6] Update trajopt_example.cpp

---
 doc/examples/trajopt_planner/src/trajopt_example.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/doc/examples/trajopt_planner/src/trajopt_example.cpp b/doc/examples/trajopt_planner/src/trajopt_example.cpp
index a1c12a2a3c..a3bf8b2617 100644
--- a/doc/examples/trajopt_planner/src/trajopt_example.cpp
+++ b/doc/examples/trajopt_planner/src/trajopt_example.cpp
@@ -20,13 +20,13 @@
 
 // TODO(mosfet80): remove else after EOL galactic
 #if __has_include(<tf2/utils.hpp>)
-   #include <tf2/utils.hpp>
-   #include <tf2_eigen/tf2_eigen.hpp>
-   #include <tf2_ros/transform_listener.hpp>
+#include <tf2/utils.hpp>
+#include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2_ros/transform_listener.hpp>
 #else
-   #include <tf2/utils.h>
-   #include <tf2_eigen/tf2_eigen.h>
-   #include <tf2_ros/transform_listener.h>
+#include <tf2/utils.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_ros/transform_listener.h>
 #endif
 
 

From f2df7408d8ea1bb77e10220d2ccdc2ee881a418c Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Wed, 3 Sep 2025 17:12:46 +0200
Subject: [PATCH 4/6] Update trajopt_example.cpp

---
 doc/examples/trajopt_planner/src/trajopt_example.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/doc/examples/trajopt_planner/src/trajopt_example.cpp b/doc/examples/trajopt_planner/src/trajopt_example.cpp
index a3bf8b2617..bdccefde62 100644
--- a/doc/examples/trajopt_planner/src/trajopt_example.cpp
+++ b/doc/examples/trajopt_planner/src/trajopt_example.cpp
@@ -29,8 +29,6 @@
 #include <tf2_ros/transform_listener.h>
 #endif
 
-
-
 /* Author: Omid Heidari
    Desc: This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in
    MotionPlanRequest and visualize the result calculated using the trajopt planner.

From d9ab1330fbb776c2b1f32df55f617928c469ae67 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Thu, 6 Nov 2025 17:14:47 +0100
Subject: [PATCH 5/6] Update trajopt_example.cpp

---
 doc/examples/trajopt_planner/src/trajopt_example.cpp | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/doc/examples/trajopt_planner/src/trajopt_example.cpp b/doc/examples/trajopt_planner/src/trajopt_example.cpp
index bdccefde62..4b42409ad2 100644
--- a/doc/examples/trajopt_planner/src/trajopt_example.cpp
+++ b/doc/examples/trajopt_planner/src/trajopt_example.cpp
@@ -18,16 +18,9 @@
 
 #include <geometry_msgs/TransformStamped.h>
 
-// TODO(mosfet80): remove else after EOL galactic
-#if __has_include(<tf2/utils.hpp>)
 #include <tf2/utils.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_ros/transform_listener.hpp>
-#else
-#include <tf2/utils.h>
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_ros/transform_listener.h>
-#endif
 
 /* Author: Omid Heidari
    Desc: This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in

From 447a81a4b897151fcafd3121376ac2d3e394375d Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Thu, 6 Nov 2025 18:45:56 +0100
Subject: [PATCH 6/6] Update
 doc/examples/trajopt_planner/src/trajopt_example.cpp

Co-authored-by: Marq Rasmussen <marq.razz@gmail.com>
---
 doc/examples/trajopt_planner/src/trajopt_example.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/doc/examples/trajopt_planner/src/trajopt_example.cpp b/doc/examples/trajopt_planner/src/trajopt_example.cpp
index 4b42409ad2..023f75aed0 100644
--- a/doc/examples/trajopt_planner/src/trajopt_example.cpp
+++ b/doc/examples/trajopt_planner/src/trajopt_example.cpp
@@ -17,7 +17,6 @@
 #include <moveit_msgs/PlanningScene.h>
 
 #include <geometry_msgs/TransformStamped.h>
-
 #include <tf2/utils.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_ros/transform_listener.hpp>