Cleanup

dbellicoso-bdai · exploy-bot · commit 1224daa68a67 · 2026-05-08T14:25:55.000Z
### What change is being made

Fix supporting clangd in vscode. Cleanup unused headers.

### Why this change is being made

Cleanup.

### Tested

Existing tests cover this PR.

GitOrigin-RevId: 93e936fe8e0ae3580b6db589d8fba499a8b35cde
diff --git a/.clangd b/.clangd
@@ -0,0 +1,11 @@
+If:
+  PathMatch: control/.*
+CompileFlags:
+  CompilationDatabase: build/control
+
+---
+
+If:
+  PathMatch: examples/.*
+CompileFlags:
+  CompilationDatabase: build/examples/controller
diff --git a/.gitignore b/.gitignore
@@ -1,6 +1,7 @@
 # Pixi & Build
 .pixi/
 build/
+.cache/
 
 # python
 __pycache__/
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
@@ -1,10 +1,10 @@
 {
   "recommendations": [
+    "llvm-vs-code-extensions.vscode-clangd",
     "charliermarsh.ruff",
     "lijian-onnx-viewer.onnxviewer",
     "ms-python.python",
     "ms-vscode.cpptools",
-    "ms-vscode.cpptools-extension-pack",
     "ms-vscode.cmake-tools",
     "renan-r-santos.pixi-code",
     "twxs.cmake",
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -8,7 +8,11 @@
     ".pytest_cache/": true,
   },
   // "C_Cpp.loggingLevel": "Debug",
-  "C_Cpp.intelliSenseEngine": "default",
+  "C_Cpp.intelliSenseEngine": "disabled",
+  "clangd.arguments": [
+    "--background-index",
+    "--completion-style=detailed"
+  ],
   "cmake.sourceDirectory": "${workspaceFolder}",
   "cmake.buildDirectory": "${workspaceFolder}/build",
   "cmake.configureOnOpen": false,
@@ -19,11 +23,11 @@
   "editor.formatOnType": false,
   // Language-specific formatters
   "[cpp]": {
-    "editor.defaultFormatter": "ms-vscode.cpptools",
+    "editor.defaultFormatter": "llvm-vs-code-extensions.vscode-clangd",
     "editor.formatOnSave": true
   },
   "[c]": {
-    "editor.defaultFormatter": "ms-vscode.cpptools",
+    "editor.defaultFormatter": "llvm-vs-code-extensions.vscode-clangd",
     "editor.formatOnSave": true
   },
   "[python]": {
diff --git a/control/include/exploy/command_interface.hpp b/control/include/exploy/command_interface.hpp
@@ -1,7 +1,6 @@
 // Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 #pragma once
 
-#include <array>
 #include <optional>
 #include <string>
 
diff --git a/control/include/exploy/components.hpp b/control/include/exploy/components.hpp
@@ -1,8 +1,6 @@
 // Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 #pragma once
 
-#include <optional>
-#include <regex>
 #include <string>
 
 #include "exploy/command_interface.hpp"
diff --git a/control/include/exploy/context.hpp b/control/include/exploy/context.hpp
@@ -1,8 +1,7 @@
 // Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 #pragma once
 
-#include <optional>
-#include <regex>
+#include <memory>
 #include <string>
 #include <unordered_map>
 #include <vector>
diff --git a/control/include/exploy/controller.hpp b/control/include/exploy/controller.hpp
@@ -5,13 +5,10 @@
 #include "exploy/command_interface.hpp"
 #include "exploy/context.hpp"
 #include "exploy/data_collection_interface.hpp"
-#include "exploy/interfaces.hpp"
 #include "exploy/onnx_runtime.hpp"
 #include "exploy/state_interface.hpp"
 
 #include <string>
-#include <unordered_map>
-#include <vector>
 
 namespace exploy::control {
 
diff --git a/control/include/exploy/data_collection_interface.hpp b/control/include/exploy/data_collection_interface.hpp
@@ -4,7 +4,6 @@
 #include <cstdint>
 #include <span>
 #include <string>
-#include <vector>
 
 namespace exploy::control {
 
diff --git a/control/include/exploy/interfaces.hpp b/control/include/exploy/interfaces.hpp
@@ -4,12 +4,9 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include <optional>
 #include <span>
 #include <string>
-#include <string_view>
 #include <unordered_map>
-#include <vector>
 
 /**
  * @file interfaces.hpp
diff --git a/control/include/exploy/logging_utils.hpp b/control/include/exploy/logging_utils.hpp
@@ -6,7 +6,6 @@
 #include <fmt/core.h>
 #include <fmt/ostream.h>
 #include <fmt/printf.h>
-#include <iostream>
 #include <sstream>
 #include <string_view>
 
diff --git a/control/include/exploy/matcher.hpp b/control/include/exploy/matcher.hpp
@@ -4,8 +4,8 @@
 #include <functional>
 #include <optional>
 #include <regex>
-#include <set>
 #include <string>
+#include <string_view>
 #include <unordered_map>
 #include <vector>
 
diff --git a/control/include/exploy/onnx_runtime.hpp b/control/include/exploy/onnx_runtime.hpp
@@ -4,8 +4,6 @@
 
 #include <onnxruntime/core/session/onnxruntime_cxx_api.h>
 
-#include <algorithm>
-#include <filesystem>
 #include <memory>
 #include <optional>
 #include <span>
diff --git a/control/include/exploy/state_interface.hpp b/control/include/exploy/state_interface.hpp
@@ -1,13 +1,9 @@
 // Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 #pragma once
 
-#include <array>
 #include <optional>
-#include <span>
 #include <string>
-#include <unordered_map>
 #include <unordered_set>
-#include <vector>
 
 #include "exploy/interfaces.hpp"
 #include "exploy/logging_utils.hpp"
diff --git a/control/src/components.cpp b/control/src/components.cpp
@@ -1,7 +1,6 @@
 // Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 #include <optional>
-#include <regex>
 #include <string>
 
 #include "exploy/components.hpp"
diff --git a/control/src/controller.cpp b/control/src/controller.cpp
@@ -4,11 +4,9 @@
 
 #include <fmt/format.h>
 
-#include <algorithm>
 #include <cassert>
 #include <chrono>
 #include <span>
-#include <vector>
 
 namespace exploy::control {
 
diff --git a/control/src/onnx_runtime.cpp b/control/src/onnx_runtime.cpp
@@ -6,7 +6,6 @@
 #include <filesystem>
 #include <memory>
 #include <ranges>
-#include <span>
 #include <unordered_map>
 #include <unordered_set>
 #include <vector>
