Add core directory to tesseract_process_managers

Levi Armstrong · Levi-Armstrong · commit 3cfa125b1fd1 · 2020-12-11T21:55:54.000-06:00
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/CMakeLists.txt b/tesseract/tesseract_planning/tesseract_process_managers/CMakeLists.txt
@@ -38,13 +38,13 @@ include(GenerateExportHeader)
 
 # Create interface
 add_library(${PROJECT_NAME}
-    src/process_input.cpp
-    src/debug_observer.cpp
-    src/process_planning_server.cpp
-    src/process_environment_cache.cpp
-    src/process_interface.cpp
-    src/process_info.cpp
-    src/default_process_planners.cpp
+    src/core/process_input.cpp
+    src/core/debug_observer.cpp
+    src/core/process_planning_server.cpp
+    src/core/process_environment_cache.cpp
+    src/core/process_interface.cpp
+    src/core/process_info.cpp
+    src/core/default_process_planners.cpp
     src/process_generators/continuous_contact_check_process_generator.cpp
     src/process_generators/discrete_contact_check_process_generator.cpp
     src/process_generators/fix_state_bounds_process_generator.cpp
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/examples/freespace_manager_example.cpp b/tesseract/tesseract_planning/tesseract_process_managers/examples/freespace_manager_example.cpp
@@ -10,7 +10,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <freespace_example_program.h>
 
 #include <tesseract_command_language/utils/utils.h>
-#include <tesseract_process_managers/process_planning_server.h>
+#include <tesseract_process_managers/core/process_planning_server.h>
 #include <tesseract_visualization/visualization_loader.h>
 
 using namespace tesseract_planning;
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/examples/raster_manager_example.cpp b/tesseract/tesseract_planning/tesseract_process_managers/examples/raster_manager_example.cpp
@@ -9,7 +9,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract/tesseract.h>
 #include <tesseract_command_language/command_language.h>
 #include <tesseract_command_language/utils/utils.h>
-#include <tesseract_process_managers/process_planning_server.h>
+#include <tesseract_process_managers/core/process_planning_server.h>
 #include <tesseract_visualization/visualization_loader.h>
 
 using namespace tesseract_planning;
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/debug_observer.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/debug_observer.h
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/default_process_planners.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/default_process_planners.h
@@ -26,7 +26,7 @@
 #ifndef TESSERACT_PROCESS_MANAGERS_DEFAULT_PROCESS_PLANNERS_H
 #define TESSERACT_PROCESS_MANAGERS_DEFAULT_PROCESS_PLANNERS_H
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_environment_cache.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_environment_cache.h
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_generator.h
@@ -32,7 +32,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_input.h>
+#include <tesseract_process_managers/core/process_input.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_info.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_info.h
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_input.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_input.h
@@ -33,8 +33,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <map>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_interface.h>
-#include <tesseract_process_managers/process_info.h>
+#include <tesseract_process_managers/core/process_interface.h>
+#include <tesseract_process_managers/core/process_info.h>
 
 #include <tesseract_motion_planners/core/profile_dictionary.h>
 #include <tesseract_motion_planners/core/types.h>
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_interface.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_interface.h
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_manager.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_manager.h
@@ -32,7 +32,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_input.h>
+#include <tesseract_process_managers/core/process_input.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_planning_future.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_planning_future.h
@@ -33,8 +33,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_interface.h>
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/process_interface.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 #include <tesseract_motion_planners/core/types.h>
 
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_planning_request.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_planning_request.h
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_planning_server.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_planning_server.h
@@ -35,10 +35,10 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_motion_planners/core/profile_dictionary.h>
 
-#include <tesseract_process_managers/process_environment_cache.h>
-#include <tesseract_process_managers/taskflow_generator.h>
-#include <tesseract_process_managers/process_planning_request.h>
-#include <tesseract_process_managers/process_planning_future.h>
+#include <tesseract_process_managers/core/process_environment_cache.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
+#include <tesseract_process_managers/core/process_planning_request.h>
+#include <tesseract_process_managers/core/process_planning_future.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/taskflow_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/taskflow_generator.h
@@ -33,8 +33,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_input.h>
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/process_input.h>
+#include <tesseract_process_managers/core/process_generator.h>
 
 // Forward Declare
 namespace tf
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/continuous_contact_check_process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/continuous_contact_check_process_generator.h
@@ -30,7 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/process_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/discrete_contact_check_process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/discrete_contact_check_process_generator.h
@@ -30,8 +30,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_generator.h>
-#include <tesseract_process_managers/process_input.h>
+#include <tesseract_process_managers/core/process_generator.h>
+#include <tesseract_process_managers/core/process_input.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/fix_state_bounds_process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/fix_state_bounds_process_generator.h
@@ -26,7 +26,7 @@
 #ifndef TESSERACT_PROCESS_MANAGERS_FIX_STATE_BOUNDS_PROCESS_GENERATOR_H
 #define TESSERACT_PROCESS_MANAGERS_FIX_STATE_BOUNDS_PROCESS_GENERATOR_H
 
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/process_generator.h>
 #include <tesseract_time_parameterization/iterative_spline_parameterization.h>
 
 namespace tesseract_planning
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/fix_state_collision_process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/fix_state_collision_process_generator.h
@@ -26,7 +26,7 @@
 #ifndef TESSERACT_PROCESS_MANAGERS_FIX_STATE_COLLISION_PROCESS_GENERATOR_H
 #define TESSERACT_PROCESS_MANAGERS_FIX_STATE_COLLISION_PROCESS_GENERATOR_H
 
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/process_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/iterative_spline_parameterization_process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/iterative_spline_parameterization_process_generator.h
@@ -26,7 +26,7 @@
 #ifndef TESSERACT_PROCESS_MANAGERS_ITERATIVE_SPLINE_PARAMETERIZATION_PROCESS_GENERATOR_H
 #define TESSERACT_PROCESS_MANAGERS_ITERATIVE_SPLINE_PARAMETERIZATION_PROCESS_GENERATOR_H
 
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/process_generator.h>
 #include <tesseract_time_parameterization/iterative_spline_parameterization.h>
 
 namespace tesseract_planning
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/motion_planner_process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/motion_planner_process_generator.h
@@ -26,7 +26,7 @@
 #ifndef TESSERACT_PROCESS_MANAGERS_MOTION_PLANNER_PROCESS_GENERATOR_H
 #define TESSERACT_PROCESS_MANAGERS_MOTION_PLANNER_PROCESS_GENERATOR_H
 
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/process_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/profile_switch_process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/profile_switch_process_generator.h
@@ -24,7 +24,7 @@
 #ifndef TESSERACT_PROCESS_MANAGERS_PROFILE_SWITCH_PROCESS_GENERATOR_H
 #define TESSERACT_PROCESS_MANAGERS_PROFILE_SWITCH_PROCESS_GENERATOR_H
 
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/process_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/seed_min_length_process_generator.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/seed_min_length_process_generator.h
@@ -32,7 +32,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/process_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_managers/simple_process_manager.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_managers/simple_process_manager.h
@@ -34,8 +34,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_manager.h>
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/process_manager.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/cartesian_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/cartesian_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 #include <tesseract_motion_planners/core/profile_dictionary.h>
 
 namespace tesseract_planning
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/descartes_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/descartes_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 #include <tesseract_motion_planners/core/profile_dictionary.h>
 
 namespace tesseract_planning
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/freespace_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/freespace_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 #include <tesseract_motion_planners/core/profile_dictionary.h>
 
 namespace tesseract_planning
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/graph_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/graph_taskflow.h
@@ -34,8 +34,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
-#include <tesseract_process_managers/process_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
+#include <tesseract_process_managers/core/process_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/ompl_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/ompl_taskflow.h
@@ -33,7 +33,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 #include <tesseract_motion_planners/core/profile_dictionary.h>
 
 namespace tesseract_planning
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_dt_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_dt_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_global_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_global_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_only_global_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_only_global_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_only_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_only_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_waad_dt_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_waad_dt_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_waad_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/raster_waad_taskflow.h
@@ -35,7 +35,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/trajopt_taskflow.h b/tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/taskflow_generators/trajopt_taskflow.h
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 #include <tesseract_motion_planners/core/profile_dictionary.h>
 
 namespace tesseract_planning
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/src/core/debug_observer.cpp b/tesseract/tesseract_planning/tesseract_process_managers/src/core/debug_observer.cpp
@@ -29,7 +29,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <fstream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/debug_observer.h>
+#include <tesseract_process_managers/core/debug_observer.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/src/core/default_process_planners.cpp b/tesseract/tesseract_planning/tesseract_process_managers/src/core/default_process_planners.cpp
@@ -24,7 +24,7 @@
  * limitations under the License.
  */
 
-#include <tesseract_process_managers/default_process_planners.h>
+#include <tesseract_process_managers/core/default_process_planners.h>
 #include <tesseract_process_managers/taskflow_generators/cartesian_taskflow.h>
 #include <tesseract_process_managers/taskflow_generators/descartes_taskflow.h>
 #include <tesseract_process_managers/taskflow_generators/freespace_taskflow.h>
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_environment_cache.cpp b/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_environment_cache.cpp
@@ -24,7 +24,7 @@
  * limitations under the License.
  */
 
-#include <tesseract_process_managers/process_environment_cache.h>
+#include <tesseract_process_managers/core/process_environment_cache.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_info.cpp b/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_info.cpp
@@ -24,7 +24,7 @@
  * limitations under the License.
  */
 
-#include <tesseract_process_managers/process_info.h>
+#include <tesseract_process_managers/core/process_info.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_input.cpp b/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_input.cpp
@@ -30,7 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <console_bridge/console.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_input.h>
+#include <tesseract_process_managers/core/process_input.h>
 #include <tesseract_command_language/composite_instruction.h>
 #include <tesseract_command_language/instruction_type.h>
 #include <tesseract_command_language/utils/utils.h>
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_interface.cpp b/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_interface.cpp
@@ -24,7 +24,7 @@
  * limitations under the License.
  */
 
-#include <tesseract_process_managers/process_interface.h>
+#include <tesseract_process_managers/core/process_interface.h>
 
 namespace tesseract_planning
 {
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_planning_server.cpp b/tesseract/tesseract_planning/tesseract_process_managers/src/core/process_planning_server.cpp
@@ -29,9 +29,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <console_bridge/console.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/process_planning_server.h>
-#include <tesseract_process_managers/debug_observer.h>
-#include <tesseract_process_managers/default_process_planners.h>
+#include <tesseract_process_managers/core/process_planning_server.h>
+#include <tesseract_process_managers/core/debug_observer.h>
+#include <tesseract_process_managers/core/default_process_planners.h>
 
 #include <tesseract_motion_planners/descartes/profile/descartes_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_profile.h>
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/src/process_managers/simple_process_manager.cpp b/tesseract/tesseract_planning/tesseract_process_managers/src/process_managers/simple_process_manager.cpp
@@ -30,8 +30,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_process_managers/process_managers/simple_process_manager.h>
-#include <tesseract_process_managers/debug_observer.h>
-#include <tesseract_process_managers/taskflow_generator.h>
+#include <tesseract_process_managers/core/debug_observer.h>
+#include <tesseract_process_managers/core/taskflow_generator.h>
 
 #include <tesseract_command_language/instruction_type.h>
 #include <tesseract_command_language/composite_instruction.h>
diff --git a/tesseract/tesseract_planning/tesseract_process_managers/test/tesseract_process_managers_unit.cpp b/tesseract/tesseract_planning/tesseract_process_managers/test/tesseract_process_managers_unit.cpp

Original file line number	Diff line number	Diff line change
`@@ -26,7 +26,7 @@`
`26`	`26`	`#ifndef TESSERACT_PROCESS_MANAGERS_DEFAULT_PROCESS_PLANNERS_H`
`27`	`27`	`#define TESSERACT_PROCESS_MANAGERS_DEFAULT_PROCESS_PLANNERS_H`
`28`	`28`
`29`		`-#include <tesseract_process_managers/taskflow_generator.h>`
	`29`	`+#include <tesseract_process_managers/core/taskflow_generator.h>`
`30`	`30`
`31`	`31`	`namespace tesseract_planning`
`32`	`32`	`{`
Original file line number	Diff line number	Diff line change
`@@ -32,7 +32,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH`
`32`	`32`	`#include <memory>`
`33`	`33`	`TESSERACT_COMMON_IGNORE_WARNINGS_POP`
`34`	`34`
`35`		`-#include <tesseract_process_managers/process_input.h>`
	`35`	`+#include <tesseract_process_managers/core/process_input.h>`
`36`	`36`
`37`	`37`	`namespace tesseract_planning`
`38`	`38`	`{`