Moved PlanarTerrain to a dedicated file

src/hippopt/robot_planning/__init__.py

@@ -48,7 +48,8 @@
     quaternion_slerp,
     transform_interpolator,
 )
-from .utilities.terrain_descriptor import PlanarTerrain, TerrainDescriptor
+from .utilities.planar_terrain import PlanarTerrain
+from .utilities.terrain_descriptor import TerrainDescriptor
 from .variables.contacts import (
     ContactPointDescriptor,
     ContactPointState,

src/hippopt/robot_planning/utilities/__init__.py

@@ -2,5 +2,6 @@
     foot_contact_state_plotter,
     humanoid_state_visualizer,
     interpolators,
+    planar_terrain,
     terrain_descriptor,
 )

src/hippopt/robot_planning/utilities/foot_contact_state_plotter.py

@@ -9,10 +9,8 @@
 import matplotlib.pyplot as plt
 import numpy as np
 
-from hippopt.robot_planning.utilities.terrain_descriptor import (
-    PlanarTerrain,
-    TerrainDescriptor,
-)
+from hippopt.robot_planning.utilities.planar_terrain import PlanarTerrain
+from hippopt.robot_planning.utilities.terrain_descriptor import TerrainDescriptor
 from hippopt.robot_planning.variables.contacts import (
     ContactPointState,
     FootContactState,

src/hippopt/robot_planning/utilities/planar_terrain.py

@@ -0,0 +1,41 @@
+import casadi as cs
+
+from hippopt.robot_planning.utilities.terrain_descriptor import TerrainDescriptor
+
+
+class PlanarTerrain(TerrainDescriptor):
+    def create_height_function(self) -> cs.Function:
+        point_position = cs.MX.sym(self.get_point_position_name(), 3)
+
+        return cs.Function(
+            "planar_terrain_height",
+            [point_position],
+            [point_position[2]],
+            [self.get_point_position_name()],
+            ["point_height"],
+            self._options,
+        )
+
+    def create_normal_direction_function(self) -> cs.Function:
+        point_position = cs.MX.sym(self.get_point_position_name(), 3)
+
+        return cs.Function(
+            "planar_terrain_normal",
+            [point_position],
+            [cs.MX.eye(3)[:, 2]],
+            [self.get_point_position_name()],
+            ["normal_direction"],
+            self._options,
+        )
+
+    def create_orientation_function(self) -> cs.Function:
+        point_position = cs.MX.sym(self.get_point_position_name(), 3)
+
+        return cs.Function(
+            "planar_terrain_orientation",
+            [point_position],
+            [cs.MX.eye(3)],
+            [self.get_point_position_name()],
+            ["plane_rotation"],
+            self._options,
+        )

src/hippopt/robot_planning/utilities/terrain_descriptor.py

@@ -68,41 +68,3 @@ def get_point_position_name(self) -> str:
 
     def get_name(self) -> str:
         return self._name if isinstance(self._name, str) else self.__class__.__name__
-
-
-class PlanarTerrain(TerrainDescriptor):
-    def create_height_function(self) -> cs.Function:
-        point_position = cs.MX.sym(self.get_point_position_name(), 3)
-
-        return cs.Function(
-            "planar_terrain_height",
-            [point_position],
-            [point_position[2]],
-            [self.get_point_position_name()],
-            ["point_height"],
-            self._options,
-        )
-
-    def create_normal_direction_function(self) -> cs.Function:
-        point_position = cs.MX.sym(self.get_point_position_name(), 3)
-
-        return cs.Function(
-            "planar_terrain_normal",
-            [point_position],
-            [cs.MX.eye(3)[:, 2]],
-            [self.get_point_position_name()],
-            ["normal_direction"],
-            self._options,
-        )
-
-    def create_orientation_function(self) -> cs.Function:
-        point_position = cs.MX.sym(self.get_point_position_name(), 3)
-
-        return cs.Function(
-            "planar_terrain_orientation",
-            [point_position],
-            [cs.MX.eye(3)],
-            [self.get_point_position_name()],
-            ["plane_rotation"],
-            self._options,
-        )