[choreolib] Remove AutoFactory reference from Choreo.h (#976)

choreolib/src/main/native/include/choreo/Choreo.h

@@ -3,7 +3,7 @@
 #pragma once
 
 #include <concepts>
-#include <functional>
+#include <filesystem>
 #include <optional>
 #include <string>
 #include <string_view>
@@ -13,7 +13,6 @@
 #include <fmt/format.h>
 #include <frc/Errors.h>
 #include <frc/Filesystem.h>
-#include <frc/geometry/Pose2d.h>
 #include <frc2/command/Subsystem.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/MemoryBuffer.h>
@@ -30,9 +29,6 @@ namespace choreo {
 
 inline constexpr uint32_t kSpecVersion = 1;
 
-template <TrajectorySample SampleType, int Year>
-class AutoFactory;
-
 /**
  * A class that handles loading choreo and caching choreo trajectories.
  */
@@ -243,30 +239,6 @@ class Choreo {
         cache;
   };
 
-  /**
-   * Create a factory that can be used to create AutoRoutine and AutoTrajectory.
-   *
-   * @tparam SampleType The type of samples in the trajectory.
-   * @tparam Year The field year. Defaults to the current year.
-   * @param poseSupplier A function that returns the current field-relative
-   *     Pose2d of the robot.
-   * @param controller A function for following the current trajectory.
-   * @param mirrorTrajectory If this returns true, the path will be mirrored to
-   *     the opposite side, while keeping the same coordinate system origin.
-   *     This will be called every loop during the command.
-   * @param driveSubsystem The drive Subsystem to require for AutoTrajectory
-   *     Commands.
-   * @return An AutoFactory that can be used to create AutoRoutines and
-   *     AutoTrajectories.
-   * @see AutoChooser using this factory with AutoChooser to generate auto
-   *     routines.
-   */
-  template <TrajectorySample SampleType, int Year = util::kDefaultYear>
-  static AutoFactory<SampleType, Year> CreateAutoFactory(
-      std::function<frc::Pose2d()> poseSupplier,
-      std::function<void(frc::Pose2d, SampleType)> controller,
-      std::function<bool()> mirrorTrajectory, frc2::Subsystem driveSubsystem);
-
  private:
   static constexpr std::string_view TRAJECTORY_FILE_EXTENSION = ".traj";
 

choreolib/src/main/native/include/choreo/trajectory/DifferentialSample.h

@@ -2,6 +2,8 @@
 
 #pragma once
 
+#include <type_traits>
+
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/ChassisSpeeds.h>
 #include <units/acceleration.h>
@@ -10,6 +12,7 @@
 #include <units/angular_velocity.h>
 #include <units/force.h>
 #include <units/length.h>
+#include <units/time.h>
 #include <units/velocity.h>
 #include <wpi/MathExtras.h>
 #include <wpi/json_fwd.h>

choreolib/src/main/native/include/choreo/trajectory/ProjectFile.h

@@ -2,6 +2,7 @@
 
 #pragma once
 
+#include <cmath>
 #include <string>
 #include <unordered_map>
 #include <vector>

choreolib/src/main/native/include/choreo/trajectory/SwerveSample.h

@@ -4,6 +4,7 @@
 
 #include <algorithm>
 #include <array>
+#include <type_traits>
 
 #include <frc/kinematics/ChassisSpeeds.h>
 #include <units/acceleration.h>
@@ -12,6 +13,7 @@
 #include <units/angular_velocity.h>
 #include <units/force.h>
 #include <units/length.h>
+#include <units/time.h>
 #include <units/velocity.h>
 #include <wpi/MathExtras.h>
 #include <wpi/json_fwd.h>

choreolib/src/main/native/include/choreo/trajectory/TrajectorySample.h

@@ -2,6 +2,8 @@
 
 #pragma once
 
+#include <concepts>
+
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/ChassisSpeeds.h>
 #include <units/time.h>

choreolib/src/main/native/include/choreo/util/AllianceFlipperUtil.h

@@ -2,10 +2,12 @@
 
 #pragma once
 
+#include <array>
 #include <numbers>
+#include <utility>
 
-#include <frc/geometry/Pose2d.h>
-#include <units/base.h>
+#include <units/angle.h>
+#include <units/length.h>
 
 #include "choreo/util/Map.h"