Move the factors!

[dellaert]

Reorganizes GTDynamics factor headers into subsystem-specific directories (kinematics/dynamics/mechanics/statics), updates call sites to the new include paths, and adds new grouped test suites/targets for those subsystems.

See copilot review for detailed changes.

[Copilot]

Pull request overview

Reorganizes GTDynamics factor headers into subsystem-specific directories (kinematics/dynamics/mechanics/statics), updates call sites to the new include paths, and adds new grouped test suites/targets for those subsystems.

Changes:

• Moved/introduced factor headers under gtdynamics/{kinematics,dynamics,mechanics}/ and updated includes across tests and core code.
• Added CMake plumbing for subsystem-scoped test groups (check.kinematics, check.dynamics, etc.) plus new tests under those groups.
• Refactored some scenario cost construction to use the new Mechanics helper for adding wrench/torque-related factors.

Reviewed changes

Copilot reviewed 39 out of 54 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
tests/testInequalityConstraint.cpp	Update PoseFactor include to new kinematics location.
tests/testIERetractor.cpp	Update PoseFactor include to new kinematics location.
tests/testIECartPoleWithFriction.cpp	Update PoseFactor include to new kinematics location.
tests/testChain.cpp	Update ContactDynamicsMomentFactor include to new dynamics location.
tests/testCartPoleWithFriction.cpp	Update PoseFactor include to new kinematics location.
tests/CMakeLists.txt	Refactor excludes and add test include directory for root tests.
gtdynamics/utils/Trajectory.h	Update PointGoalFactor include to new kinematics location.
gtdynamics/utils/JsonSaver.h	Update multiple factor includes to new subsystem locations.
gtdynamics/universal_robot/Joint.cpp	Update JointLimitFactor include to new kinematics location.
gtdynamics/statics/tests/testStaticWrenchFactor.cpp	Add new unit test for StaticWrenchFactor.
gtdynamics/statics/tests/CMakeLists.txt	Add statics test group via gtsamAddTestsGlob.
gtdynamics/statics/CMakeLists.txt	Add conditional inclusion of statics tests subdir.
gtdynamics/scenarios/IEQuadrupedUtilsCosts.cpp	Switch torque/wrench equivalence factor creation to Mechanics.
gtdynamics/mechanics/tests/testWrenchPlanarFactor.cpp	Update include to new mechanics location.
gtdynamics/mechanics/tests/testWrenchEquivalenceFactor.cpp	Update include to new mechanics location.
gtdynamics/mechanics/tests/testTorqueFactor.cpp	Update include to new mechanics location.
gtdynamics/mechanics/tests/CMakeLists.txt	Add mechanics test group via gtsamAddTestsGlob.
gtdynamics/mechanics/WrenchPlanarFactor.h	Add/move wrench planar constraint/factor into mechanics module.
gtdynamics/mechanics/WrenchEquivalenceFactor.h	Add/move wrench equivalence factor into mechanics module.
gtdynamics/mechanics/TorqueFactor.h	Add/move torque factor into mechanics module.
gtdynamics/mechanics/MechanicsSlice.cpp	Update includes to new mechanics factor headers.
gtdynamics/mechanics/CMakeLists.txt	Add conditional inclusion of mechanics tests subdir.
gtdynamics/kinematics/tests/testTwistFactor.cpp	Update include to new kinematics location.
gtdynamics/kinematics/tests/testPoseFactor.cpp	Update include to new kinematics location.
gtdynamics/kinematics/tests/testPointGoalFactor.cpp	Update include to new kinematics location.
gtdynamics/kinematics/tests/testContactKinematicsTwistFactor.cpp	Update include to new kinematics location.
gtdynamics/kinematics/tests/testContactHeightFactor.cpp	Update include to new kinematics location.
gtdynamics/kinematics/tests/CMakeLists.txt	Add kinematics test group via gtsamAddTestsGlob.
gtdynamics/kinematics/TwistFactor.h	Add/move twist factor into kinematics module.
gtdynamics/kinematics/PoseFactor.h	Add/move pose factor into kinematics module.
gtdynamics/kinematics/PointGoalFactor.h	Add/move point goal factor into kinematics module.
gtdynamics/kinematics/KinematicsSlice.cpp	Update includes to new kinematics factor headers.
gtdynamics/kinematics/JointLimitFactor.h	Add/move joint limit factor into kinematics module.
gtdynamics/kinematics/ContactKinematicsTwistFactor.h	Add/move contact twist constraint/factor into kinematics module.
gtdynamics/kinematics/ContactHeightFactor.h	Add/move contact height constraint/factor into kinematics module.
gtdynamics/kinematics/CMakeLists.txt	Add conditional inclusion of kinematics tests subdir.
gtdynamics/factors/ObjectiveFactors.h	Update PointGoalFactor include to new kinematics location.
gtdynamics/factors/ObjectiveFactors.cpp	Update PointGoalFactor include to new kinematics location.
gtdynamics/dynamics/tests/testWrenchFactor.cpp	Update include to new dynamics location.
gtdynamics/dynamics/tests/testTwistAccelFactor.cpp	Update include to new dynamics location.
gtdynamics/dynamics/tests/testContactKinematicsAccelFactor.cpp	Update include to new dynamics location.
gtdynamics/dynamics/tests/testContactDynamicsMomentFactor.cpp	Update include to new dynamics location.
gtdynamics/dynamics/tests/testContactDynamicsFrictionConeFactor.cpp	Update include to new dynamics location.
gtdynamics/dynamics/tests/CMakeLists.txt	Add dynamics test group via gtsamAddTestsGlob.
gtdynamics/dynamics/WrenchFactor.h	Add/move wrench balance factor into dynamics module.
gtdynamics/dynamics/TwistAccelFactor.h	Add/move twist acceleration factor into dynamics module.
gtdynamics/dynamics/DynamicsSlice.cpp	Update includes to new dynamics factor headers.
gtdynamics/dynamics/ContactKinematicsAccelFactor.h	Add/move contact acceleration constraint/factor into dynamics module.
gtdynamics/dynamics/ContactDynamicsMomentFactor.h	Add/move contact moment constraint/factor into dynamics module.
gtdynamics/dynamics/ContactDynamicsFrictionConeFactor.h	Add/move friction cone inequality factor into dynamics module.
gtdynamics/dynamics/ChainDynamicsGraph.h	Update includes to new dynamics factor headers.
gtdynamics/dynamics/CMakeLists.txt	Add conditional inclusion of dynamics tests subdir.
gtdynamics.i	Update wrapped header includes (PoseFactor/WrenchFactor/ContactHeightFactor).
README.md	Document grouped test targets and common build/run target patterns.

Comments suppressed due to low confidence (1)

gtdynamics.i:95

• gtdynamics.i declares a free function gtsam::NoiseModelFactor* WrenchFactor(...), but there is no corresponding C++ definition in the repo (the only WrenchFactor found returns NoiseModelFactor::shared_ptr in gtdynamics/dynamics/WrenchFactor.h). This will break wrapper generation/linking. Either (1) add/restore a C++ overload with this exact signature, or (2) update the interface to wrap the existing shared_ptr-returning function with matching parameter types.

#include <gtdynamics/dynamics/WrenchFactor.h>
gtsam::NoiseModelFactor* WrenchFactor(
    const gtsam::noiseModel::Base *cost_model, const gtdynamics::Link *link,
    const std::vector<gtsam::Key> wrench_keys, int t = 0,
    const std::optional<gtsam::Vector3> &gravity);

[varunagrawal]

Thank you. Been wanting to do this restructure for a while but it was too much of a breaking change.

[dellaert]

Will merge - will add xmake fix in next PR