From f82fa051f26a224414247c661107a94ef37c672d Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 4 Sep 2025 23:18:57 +0200
Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=A8=20Renames=20states=20folder?=
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---
 esp32/include/kinematics.h                             |  2 +-
 esp32/include/motion.h                                 | 10 +++++-----
 .../{gait => motion_states}/kinematic_constraints.h    |  0
 esp32/include/{gait => motion_states}/rest_state.h     |  2 +-
 esp32/include/{gait => motion_states}/stand_state.h    |  2 +-
 esp32/include/{gait => motion_states}/state.h          |  2 +-
 esp32/include/{gait => motion_states}/walk_state.h     |  2 +-
 7 files changed, 10 insertions(+), 10 deletions(-)
 rename esp32/include/{gait => motion_states}/kinematic_constraints.h (100%)
 rename esp32/include/{gait => motion_states}/rest_state.h (94%)
 rename esp32/include/{gait => motion_states}/stand_state.h (97%)
 rename esp32/include/{gait => motion_states}/state.h (96%)
 rename esp32/include/{gait => motion_states}/walk_state.h (99%)

diff --git a/esp32/include/kinematics.h b/esp32/include/kinematics.h
index f27a3fd..953fafd 100644
--- a/esp32/include/kinematics.h
+++ b/esp32/include/kinematics.h
@@ -2,7 +2,7 @@
 #define Kinematics_h
 
 #include <utils/math_utils.h>
-#include <gait/kinematic_constraints.h>
+#include <motion_states/kinematic_constraints.h>
 
 struct alignas(16) body_state_t {
     float omega {0}, phi {0}, psi {0}, xm {0}, ym {KinConfig::default_body_height}, zm {0};
diff --git a/esp32/include/motion.h b/esp32/include/motion.h
index 15c91d1..f0e5f5b 100644
--- a/esp32/include/motion.h
+++ b/esp32/include/motion.h
@@ -7,11 +7,11 @@
 #include <utils/timing.h>
 #include <utils/math_utils.h>
 
-#include <gait/state.h>
-#include <gait/walk_state.h>
-#include <gait/stand_state.h>
-#include <gait/rest_state.h>
-#include <gait/kinematic_constraints.h>
+#include <motion_states/state.h>
+#include <motion_states/walk_state.h>
+#include <motion_states/stand_state.h>
+#include <motion_states/rest_state.h>
+#include <motion_states/kinematic_constraints.h>
 #include <message_types.h>
 
 #define DEFAULT_STATE false
diff --git a/esp32/include/gait/kinematic_constraints.h b/esp32/include/motion_states/kinematic_constraints.h
similarity index 100%
rename from esp32/include/gait/kinematic_constraints.h
rename to esp32/include/motion_states/kinematic_constraints.h
diff --git a/esp32/include/gait/rest_state.h b/esp32/include/motion_states/rest_state.h
similarity index 94%
rename from esp32/include/gait/rest_state.h
rename to esp32/include/motion_states/rest_state.h
index 89d76d1..e0665d7 100644
--- a/esp32/include/gait/rest_state.h
+++ b/esp32/include/motion_states/rest_state.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <gait/state.h>
+#include <motion_states/state.h>
 
 class RestState : public MotionState {
   protected:
diff --git a/esp32/include/gait/stand_state.h b/esp32/include/motion_states/stand_state.h
similarity index 97%
rename from esp32/include/gait/stand_state.h
rename to esp32/include/motion_states/stand_state.h
index 2ab473f..b9eb8ba 100644
--- a/esp32/include/gait/stand_state.h
+++ b/esp32/include/motion_states/stand_state.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <gait/state.h>
+#include <motion_states/state.h>
 
 class StandState : public MotionState {
   protected:
diff --git a/esp32/include/gait/state.h b/esp32/include/motion_states/state.h
similarity index 96%
rename from esp32/include/gait/state.h
rename to esp32/include/motion_states/state.h
index 99cc80d..432f3a0 100644
--- a/esp32/include/gait/state.h
+++ b/esp32/include/motion_states/state.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <kinematics.h>
-#include <gait/kinematic_constraints.h>
+#include <motion_states/kinematic_constraints.h>
 #include <message_types.h>
 
 class MotionState {
diff --git a/esp32/include/gait/walk_state.h b/esp32/include/motion_states/walk_state.h
similarity index 99%
rename from esp32/include/gait/walk_state.h
rename to esp32/include/motion_states/walk_state.h
index cf97bb8..e7db1ec 100644
--- a/esp32/include/gait/walk_state.h
+++ b/esp32/include/motion_states/walk_state.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <gait/state.h>
+#include <motion_states/state.h>
 #include <utils/math_utils.h>
 #include <array>
 #include <functional>