[core] Flatten nested namespaces.

core/include/jiminy/core/control/abstract_controller.hxx

@@ -101,6 +101,4 @@ namespace jiminy
     }
 }
 
-#endif // JIMINY_ABSTRACT_CONTROLLER_HXX
-
-
+#endif  // JIMINY_ABSTRACT_CONTROLLER_HXX

core/include/jiminy/core/engine/engine_multi_robot.h

@@ -675,4 +675,4 @@ namespace jiminy
     };
 }
 
-#endif //end of JIMINY_ENGINE_MULTIROBOT_H
+#endif  // JIMINY_ENGINE_MULTIROBOT_H

core/include/jiminy/core/io/abstract_io_device.hxx

@@ -41,4 +41,4 @@ namespace jiminy
     template<> hresult_t AbstractIODevice::write<std::vector<uint64_t> >(std::vector<uint64_t> const & v);
 }
 
-#endif // JIMINY_ABSTRACT_IO_DEVICE_HXX
+#endif  // JIMINY_ABSTRACT_IO_DEVICE_HXX

core/include/jiminy/core/io/json_loader.h

@@ -47,5 +47,6 @@ namespace jiminy
         std::vector<char_t> payload_;
         std::shared_ptr<AbstractIODevice> device_;
     };
-}  // End of namespace jiminy.
+}
+
 #endif  // JIMINY_JSON_LOADER_H

core/include/jiminy/core/io/serialization.hxx

@@ -42,34 +42,31 @@ namespace jiminy
 }
 
 
-namespace boost
+namespace boost::serialization
 {
-  namespace serialization
-  {
-        template<class Archive>
-        void load_construct_data(Archive & /* ar */,
-                                 pinocchio::GeometryObject * geomPtr,
-                                 unsigned int const /* version */)
-        {
-            ::new(geomPtr) pinocchio::GeometryObject(
-                "", 0, 0, {nullptr}, pinocchio::SE3::Identity());
-        }
+    template<class Archive>
+    void load_construct_data(Archive & /* ar */,
+                             pinocchio::GeometryObject * geomPtr,
+                             unsigned int const /* version */)
+    {
+        ::new(geomPtr) pinocchio::GeometryObject(
+            "", 0, 0, {nullptr}, pinocchio::SE3::Identity());
+    }
 
-        template<class Archive>
-        void serialize(Archive & ar,
-                       pinocchio::GeometryObject & geom,
-                       unsigned int const /* version */);
+    template<class Archive>
+    void serialize(Archive & ar,
+                   pinocchio::GeometryObject & geom,
+                   unsigned int const /* version */);
 
-        template <class Archive>
-        void serialize(Archive & ar,
-                       pinocchio::GeometryModel & model,
-                       unsigned int const /* version */)
-        {
-            ar & make_nvp("ngeoms", model.ngeoms);
-            ar & make_nvp("geometryObjects", model.geometryObjects);
-            ar & make_nvp("collisionPairs", model.collisionPairs);
-        }
-  } // namespace serialization
-} // namespace boost
+    template <class Archive>
+    void serialize(Archive & ar,
+                   pinocchio::GeometryModel & model,
+                   unsigned int const /* version */)
+    {
+        ar & make_nvp("ngeoms", model.ngeoms);
+        ar & make_nvp("geometryObjects", model.geometryObjects);
+        ar & make_nvp("collisionPairs", model.collisionPairs);
+    }
+}
 
-#endif // JIMINY_SERIALIZATION_HXX
+#endif  // JIMINY_SERIALIZATION_HXX

core/include/jiminy/core/robot/pinocchio_overload_algorithms.h

@@ -31,9 +31,7 @@
 #include "jiminy/core/engine/engine_multi_robot.h"
 
 
-namespace jiminy
-{
-namespace pinocchio_overload
+namespace jiminy::pinocchio_overload
 {
     template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl,
              typename ConfigVectorType, typename TangentVectorType>
@@ -546,6 +544,5 @@ namespace pinocchio_overload
         return data.llt_JMinvJt.solve(v);
     }
 }
-}
 
-#endif //end of JIMINY_ALGORITHMS_MOTOR_INERTIA_H
+#endif  // JIMINY_ALGORITHMS_MOTOR_INERTIA_H

core/include/jiminy/core/stepper/lie_group.h

@@ -1319,4 +1319,4 @@ namespace jiminy
     using stateDerivative_t = Eigen::StateDerivativeVector;
 }
 
-#endif //end of JIMINY_LIE_GROUP_H
+#endif  // JIMINY_LIE_GROUP_H

core/include/jiminy/core/telemetry/telemetry_data.h

@@ -87,8 +87,8 @@ namespace jiminy
         std::deque<std::pair<std::string, float64_t> > floatsRegistry_;       ///< Memory to handle floats
         bool_t isRegisteringAvailable_;                                       ///< Whether registering is available
     };
-} // namespace jiminy
+}
 
 #include "jiminy/core/telemetry/telemetry_data.hxx"
 
-#endif // JIMINY_TELEMETRY_DATA_H
+#endif  // JIMINY_TELEMETRY_DATA_H

core/include/jiminy/core/telemetry/telemetry_data.hxx

@@ -46,6 +46,6 @@ namespace jiminy
 
         return hresult_t::SUCCESS;
     }
-} // namespace jiminy
+}
 
-#endif // JIMINY_TELEMETRY_DATA_HXX
+#endif  // JIMINY_TELEMETRY_DATA_HXX

core/include/jiminy/core/telemetry/telemetry_sender.h

@@ -106,8 +106,8 @@ namespace jiminy
         ///        reserved position in the contiguous storage of telemetry data.
         telemetry_data_registry_t<float64_t, int64_t> bufferPosition_;
     };
-} // End of jiminy namespace
+}
 
 #include "jiminy/core/telemetry/telemetry_sender.hxx"
 
-#endif  //  JIMINY_TELEMETRY_CLIENT_CLASS_H
+#endif  // JIMINY_TELEMETRY_CLIENT_CLASS_H

core/include/jiminy/core/telemetry/telemetry_sender.hxx

@@ -38,6 +38,6 @@ namespace jiminy
         }
         return returnCode;
     }
-} // namespace jiminy
+}
 
-#endif // JIMINY_TELEMETRY_SENDER_HXX
+#endif  // JIMINY_TELEMETRY_SENDER_HXX

core/include/jiminy/core/types.h

@@ -28,12 +28,9 @@
 
 
 // `pinocchio::container::aligned_vector`
-namespace pinocchio
+namespace pinocchio::container
 {
-    namespace container
-    {
-        template<typename T> struct aligned_vector;
-    }
+    template<typename T> struct aligned_vector;
 }
 
 

core/src/io/json_loader.cc

@@ -51,4 +51,4 @@ namespace jiminy
     {
         return rootJson_.get();
     }
-}  // End of namespace jiminy.
+}

core/src/io/serialization.cc

@@ -17,79 +17,76 @@
     EXPL_TPL_INST_SERIALIZE_IMPL(boost::archive::binary_oarchive, __VA_ARGS__)
 
 
-namespace boost
+namespace boost::serialization
 {
-    namespace serialization
+    template<class Archive>
+    void serialize(Archive & ar,
+                   pinocchio::GeometryObject & geom,
+                   const unsigned int /* version */)
     {
-        template<class Archive>
-        void serialize(Archive & ar,
-                       pinocchio::GeometryObject & geom,
-                       const unsigned int /* version */)
-        {
-            ar & make_nvp("name", geom.name);
-            ar & make_nvp("parentFrame", geom.parentFrame);
-            ar & make_nvp("parentJoint", geom.parentJoint);
-
-            /* Manual polymorphic up-casting to avoid relying on boost
-               serialization for doing it, otherwise it would conflict
-               with any pinocchio bindings exposing the same objects. */
-            hpp::fcl::NODE_TYPE nodeType;
-            if (Archive::is_saving::value)
-            {
-                nodeType = geom.geometry->getNodeType();
-            }
-            ar & make_nvp("nodeType", nodeType);
+        ar & make_nvp("name", geom.name);
+        ar & make_nvp("parentFrame", geom.parentFrame);
+        ar & make_nvp("parentJoint", geom.parentJoint);
 
-            #define UPCAST_FROM_TYPENAME(TYPENAME, CLASS) \
-            case hpp::fcl::NODE_TYPE::TYPENAME: \
-                if (Archive::is_loading::value) \
-                { \
-                    geom.geometry = std::shared_ptr<CLASS>(new CLASS); \
-                } \
-                ar & make_nvp("geometry", static_cast<CLASS &>(*geom.geometry)); \
-                break;
-
-            switch (nodeType)
-            {
-            UPCAST_FROM_TYPENAME(GEOM_TRIANGLE, hpp::fcl::TriangleP)
-            UPCAST_FROM_TYPENAME(GEOM_SPHERE, hpp::fcl::Sphere)
-            UPCAST_FROM_TYPENAME(GEOM_BOX, hpp::fcl::Box)
-            UPCAST_FROM_TYPENAME(GEOM_CAPSULE, hpp::fcl::Capsule)
-            UPCAST_FROM_TYPENAME(GEOM_CONE, hpp::fcl::Cone)
-            UPCAST_FROM_TYPENAME(GEOM_CYLINDER, hpp::fcl::Cylinder)
-            UPCAST_FROM_TYPENAME(GEOM_HALFSPACE, hpp::fcl::Halfspace)
-            UPCAST_FROM_TYPENAME(GEOM_PLANE, hpp::fcl::Plane)
-            UPCAST_FROM_TYPENAME(GEOM_ELLIPSOID, hpp::fcl::Ellipsoid)
-            UPCAST_FROM_TYPENAME(GEOM_CONVEX, hpp::fcl::Convex<hpp::fcl::Triangle>)
-            UPCAST_FROM_TYPENAME(BV_AABB, hpp::fcl::BVHModel<hpp::fcl::AABB>)
-            UPCAST_FROM_TYPENAME(BV_OBB, hpp::fcl::BVHModel<hpp::fcl::OBB>)
-            UPCAST_FROM_TYPENAME(BV_RSS, hpp::fcl::BVHModel<hpp::fcl::RSS>)
-            UPCAST_FROM_TYPENAME(BV_OBBRSS, hpp::fcl::BVHModel<hpp::fcl::OBBRSS>)
-            UPCAST_FROM_TYPENAME(BV_kIOS, hpp::fcl::BVHModel<hpp::fcl::kIOS>)
-            UPCAST_FROM_TYPENAME(BV_KDOP16, hpp::fcl::BVHModel<hpp::fcl::KDOP<16> >)
-            UPCAST_FROM_TYPENAME(BV_KDOP18, hpp::fcl::BVHModel<hpp::fcl::KDOP<18> >)
-            UPCAST_FROM_TYPENAME(BV_KDOP24, hpp::fcl::BVHModel<hpp::fcl::KDOP<24> >)
-            case hpp::fcl::NODE_TYPE::GEOM_OCTREE:
-            case hpp::fcl::NODE_TYPE::HF_AABB:
-            case hpp::fcl::NODE_TYPE::HF_OBBRSS:
-            case hpp::fcl::NODE_TYPE::BV_UNKNOWN:
-            case hpp::fcl::NODE_TYPE::NODE_COUNT:
-            default:
-                // Falling back to polymorphism
-                ar & make_nvp("geometry", geom.geometry);
-                break;
-            }
+        /* Manual polymorphic up-casting to avoid relying on boost
+            serialization for doing it, otherwise it would conflict
+            with any pinocchio bindings exposing the same objects. */
+        hpp::fcl::NODE_TYPE nodeType;
+        if (Archive::is_saving::value)
+        {
+            nodeType = geom.geometry->getNodeType();
+        }
+        ar & make_nvp("nodeType", nodeType);
 
-            #undef UPCAST_FROM_TYPENAME
+        #define UPCAST_FROM_TYPENAME(TYPENAME, CLASS) \
+        case hpp::fcl::NODE_TYPE::TYPENAME: \
+            if (Archive::is_loading::value) \
+            { \
+                geom.geometry = std::shared_ptr<CLASS>(new CLASS); \
+            } \
+            ar & make_nvp("geometry", static_cast<CLASS &>(*geom.geometry)); \
+            break;
 
-            ar & make_nvp("placement", geom.placement);
-            ar & make_nvp("meshPath", geom.meshPath);
-            ar & make_nvp("meshScale", geom.meshScale);
-            ar & make_nvp("overrideMaterial", geom.overrideMaterial);
-            ar & make_nvp("meshColor", geom.meshColor);
-            ar & make_nvp("meshTexturePath", geom.meshTexturePath);
+        switch (nodeType)
+        {
+        UPCAST_FROM_TYPENAME(GEOM_TRIANGLE, hpp::fcl::TriangleP)
+        UPCAST_FROM_TYPENAME(GEOM_SPHERE, hpp::fcl::Sphere)
+        UPCAST_FROM_TYPENAME(GEOM_BOX, hpp::fcl::Box)
+        UPCAST_FROM_TYPENAME(GEOM_CAPSULE, hpp::fcl::Capsule)
+        UPCAST_FROM_TYPENAME(GEOM_CONE, hpp::fcl::Cone)
+        UPCAST_FROM_TYPENAME(GEOM_CYLINDER, hpp::fcl::Cylinder)
+        UPCAST_FROM_TYPENAME(GEOM_HALFSPACE, hpp::fcl::Halfspace)
+        UPCAST_FROM_TYPENAME(GEOM_PLANE, hpp::fcl::Plane)
+        UPCAST_FROM_TYPENAME(GEOM_ELLIPSOID, hpp::fcl::Ellipsoid)
+        UPCAST_FROM_TYPENAME(GEOM_CONVEX, hpp::fcl::Convex<hpp::fcl::Triangle>)
+        UPCAST_FROM_TYPENAME(BV_AABB, hpp::fcl::BVHModel<hpp::fcl::AABB>)
+        UPCAST_FROM_TYPENAME(BV_OBB, hpp::fcl::BVHModel<hpp::fcl::OBB>)
+        UPCAST_FROM_TYPENAME(BV_RSS, hpp::fcl::BVHModel<hpp::fcl::RSS>)
+        UPCAST_FROM_TYPENAME(BV_OBBRSS, hpp::fcl::BVHModel<hpp::fcl::OBBRSS>)
+        UPCAST_FROM_TYPENAME(BV_kIOS, hpp::fcl::BVHModel<hpp::fcl::kIOS>)
+        UPCAST_FROM_TYPENAME(BV_KDOP16, hpp::fcl::BVHModel<hpp::fcl::KDOP<16> >)
+        UPCAST_FROM_TYPENAME(BV_KDOP18, hpp::fcl::BVHModel<hpp::fcl::KDOP<18> >)
+        UPCAST_FROM_TYPENAME(BV_KDOP24, hpp::fcl::BVHModel<hpp::fcl::KDOP<24> >)
+        case hpp::fcl::NODE_TYPE::GEOM_OCTREE:
+        case hpp::fcl::NODE_TYPE::HF_AABB:
+        case hpp::fcl::NODE_TYPE::HF_OBBRSS:
+        case hpp::fcl::NODE_TYPE::BV_UNKNOWN:
+        case hpp::fcl::NODE_TYPE::NODE_COUNT:
+        default:
+            // Falling back to polymorphism
+            ar & make_nvp("geometry", geom.geometry);
+            break;
         }
 
-        EXPLICIT_TEMPLATE_INSTANTIATION_SERIALIZE(pinocchio::GeometryObject)
+        #undef UPCAST_FROM_TYPENAME
+
+        ar & make_nvp("placement", geom.placement);
+        ar & make_nvp("meshPath", geom.meshPath);
+        ar & make_nvp("meshScale", geom.meshScale);
+        ar & make_nvp("overrideMaterial", geom.overrideMaterial);
+        ar & make_nvp("meshColor", geom.meshColor);
+        ar & make_nvp("meshTexturePath", geom.meshTexturePath);
     }
+
+    EXPLICIT_TEMPLATE_INSTANTIATION_SERIALIZE(pinocchio::GeometryObject)
 }

core/src/telemetry/telemetry_data.cc

@@ -133,4 +133,4 @@ namespace jiminy
     {
         return &floatsRegistry_;
     }
-}// end of namespace jiminy
+}

core/src/telemetry/telemetry_sender.cc

@@ -44,4 +44,4 @@ namespace jiminy
     {
         return objectName_;
     }
-} // End of namespace jiminy.
+}

python/jiminy_pywrap/include/jiminy/python/compatibility.h

@@ -2,12 +2,9 @@
 #define COMPATIBILITY_PYTHON_H
 
 
-namespace jiminy
-{
-namespace python
+namespace jiminy::python
 {
     void exposeCompatibility(void);
-}  // End of namespace python.
-}  // End of namespace jiminy.
+}
 
 #endif  // COMPATIBILITY_PYTHON_H

python/jiminy_pywrap/include/jiminy/python/constraints.h

@@ -2,13 +2,10 @@
 #define CONSTRAINTS_PYTHON_H
 
 
-namespace jiminy
-{
-namespace python
+namespace jiminy::python
 {
     void exposeConstraint(void);
     void exposeConstraintsHolder(void);
-}  // End of namespace python.
-}  // End of namespace jiminy.
+}
 
 #endif  // CONSTRAINTS_PYTHON_H

python/jiminy_pywrap/include/jiminy/python/controllers.h

@@ -2,13 +2,10 @@
 #define CONTROLLERS_PYTHON_H
 
 
-namespace jiminy
-{
-namespace python
+namespace jiminy::python
 {
     void exposeAbstractController(void);
     void exposeControllerFunctor(void);
-}  // End of namespace python.
-}  // End of namespace jiminy.
+}
 
 #endif  // CONTROLLERS_PYTHON_H

python/jiminy_pywrap/include/jiminy/python/engine.h

@@ -2,17 +2,14 @@
 #define SIMULATOR_PYTHON_H
 
 
-namespace jiminy
-{
-namespace python
+namespace jiminy::python
 {
     void exposeForces(void);
     void exposeStepperState(void);
     void exposeSystemState(void);
     void exposeSystem(void);
     void exposeEngineMultiRobot(void);
     void exposeEngine(void);
-}  // End of namespace python.
-}  // End of namespace jiminy.
+}
 
 #endif  // SIMULATOR_PYTHON_H