Split util namespace into common and io namespaces (#225)

include/aikido/util.hpp → include/aikido/common.hpp

@@ -1,6 +1,6 @@
+#include "common/RNG.hpp"
 #include "util/CatkinResourceRetriever.hpp"
 #include "util/PseudoInverse.hpp"
-#include "util/RNG.hpp"
 #include "util/Spline.hpp"
 #include "util/StepSequence.hpp"
 #include "util/VanDerCorput.hpp"

include/aikido/util/ExecutorMultiplexer.hpp → include/aikido/common/ExecutorMultiplexer.hpp

@@ -1,12 +1,12 @@
-#ifndef AIKIDO_UTIL_EXECUTORMULTIPLEXER_HPP_
-#define AIKIDO_UTIL_EXECUTORMULTIPLEXER_HPP_
+#ifndef AIKIDO_COMMON_EXECUTORMULTIPLEXER_HPP_
+#define AIKIDO_COMMON_EXECUTORMULTIPLEXER_HPP_
 
 #include <functional>
 #include <mutex>
 #include <vector>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// Combine multiple executors (i.e. no argument callbacks) into one executor.
 ///
@@ -53,7 +53,7 @@ class ExecutorMultiplexer final
   std::vector<std::function<void()>> mCallbacks;
 };
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
-#endif // AIKIDO_UTIL_EXECUTORMULTIPLEXER_HPP_
+#endif // AIKIDO_COMMON_EXECUTORMULTIPLEXER_HPP_

include/aikido/util/ExecutorThread.hpp → include/aikido/common/ExecutorThread.hpp

@@ -1,13 +1,13 @@
-#ifndef AIKIDO_UTIL_EXECUTORTHREAD_HPP_
-#define AIKIDO_UTIL_EXECUTORTHREAD_HPP_
+#ifndef AIKIDO_COMMON_EXECUTORTHREAD_HPP_
+#define AIKIDO_COMMON_EXECUTORTHREAD_HPP_
 
 #include <atomic>
 #include <chrono>
 #include <functional>
 #include <thread>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// ExecutorThread is a wrapper of std::thread that calls a callback
 /// periodically.
@@ -63,9 +63,9 @@ class ExecutorThread final
   std::thread mThread;
 };
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
-#include <aikido/util/detail/ExecutorThread-impl.hpp>
+#include <aikido/common/detail/ExecutorThread-impl.hpp>
 
-#endif // AIKIDO_UTIL_EXECUTORTHREAD_HPP_
+#endif // AIKIDO_COMMON_EXECUTORTHREAD_HPP_

include/aikido/util/PseudoInverse.hpp → include/aikido/common/PseudoInverse.hpp

@@ -1,18 +1,18 @@
-#ifndef AIKIDO_UTIL_PSEUDOINVERSE_HPP_
-#define AIKIDO_UTIL_PSEUDOINVERSE_HPP_
+#ifndef AIKIDO_COMMON_PSEUDOINVERSE_HPP_
+#define AIKIDO_COMMON_PSEUDOINVERSE_HPP_
 
 #include <Eigen/Dense>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// Computes the Moore-Penrose pseudoinverse of a matrix.
 ///
 /// \param mat input matrix
 /// \return pseudo-inverse of \c mat
 Eigen::MatrixXd pseudoinverse(const Eigen::MatrixXd& mat, double eps = 1e-6);
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
-#endif // AIKIDO_UTIL_PSEUDOINVERSE_HPP_
+#endif // AIKIDO_COMMON_PSEUDOINVERSE_HPP_

include/aikido/util/RNG.hpp → include/aikido/common/RNG.hpp

@@ -1,5 +1,5 @@
-#ifndef AIKIDO_UTIL_RNG_HPP_
-#define AIKIDO_UTIL_RNG_HPP_
+#ifndef AIKIDO_COMMON_RNG_HPP_
+#define AIKIDO_COMMON_RNG_HPP_
 
 #include <cassert>
 #include <cmath>
@@ -9,7 +9,7 @@
 #include <Eigen/Geometry>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// Default number of seeds to by \c cloneRNGsFrom to seed new engines.
 constexpr int NUM_DEFAULT_SEEDS{100};
@@ -136,7 +136,7 @@ Quaternion sampleQuaternion(
 /// \param _numOutputs number of RNGs to create
 /// \param _numSeeds number of seeds to use for initialization
 /// \return new random number generators
-std::vector<std::unique_ptr<util::RNG>> cloneRNGsFrom(
+std::vector<std::unique_ptr<common::RNG>> cloneRNGsFrom(
     RNG& _engine, size_t _numOutputs, size_t _numSeeds = NUM_DEFAULT_SEEDS);
 
 /// Deterministically create a random number generator of the same type as the
@@ -147,12 +147,12 @@ std::vector<std::unique_ptr<util::RNG>> cloneRNGsFrom(
 /// \param _engine random engine
 /// \param _numSeeds number of seeds to use for initialization
 /// \return new random number generators
-std::vector<std::unique_ptr<util::RNG>> cloneRNGFrom(
+std::vector<std::unique_ptr<common::RNG>> cloneRNGFrom(
     RNG& _engine, size_t _numSeeds = NUM_DEFAULT_SEEDS);
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
 #include "detail/RNG-impl.hpp"
 
-#endif // AIKIDO_UTIL_RNG_HPP_
+#endif // AIKIDO_COMMON_RNG_HPP_

include/aikido/util/Spline.hpp → include/aikido/common/Spline.hpp

@@ -1,5 +1,5 @@
-#ifndef AIKIDO_UTIL_SPLINE_HPP_
-#define AIKIDO_UTIL_SPLINE_HPP_
+#ifndef AIKIDO_COMMON_SPLINE_HPP_
+#define AIKIDO_COMMON_SPLINE_HPP_
 
 #include <cstddef>
 #include <memory>
@@ -10,7 +10,7 @@
 #include <Eigen/StdVector>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// An arbitrary dimensional polynomial spline. The number of coefficients,
 /// outputs, and knot points may be specified either at compile time (via
@@ -332,9 +332,9 @@ class SplineProblem
       || ProblemVector::NeedsToAlign)
 };
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
 #include "detail/Spline-impl.hpp"
 
-#endif // AIKIDO_UTIL_SPLINE_HPP_
+#endif // AIKIDO_COMMON_SPLINE_HPP_

include/aikido/util/StepSequence.hpp → include/aikido/common/StepSequence.hpp

@@ -1,13 +1,13 @@
-#ifndef AIKIDO_UTIL_STEPSEQUENCE_HPP_
-#define AIKIDO_UTIL_STEPSEQUENCE_HPP_
+#ifndef AIKIDO_COMMON_STEPSEQUENCE_HPP_
+#define AIKIDO_COMMON_STEPSEQUENCE_HPP_
 
 #include <cassert>
 #include <limits>
 #include <tuple>
 #include <boost/iterator/iterator_facade.hpp>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// An iterator that returns a sequence of numbers between 0 and 1 stepping at a
 /// fixed stepsize
@@ -67,7 +67,7 @@ class StepSequence::const_iterator
   double mValue;
 };
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
-#endif // AIKIDO_UTIL_STEPSEQUENCE_HPP_
+#endif // AIKIDO_COMMON_STEPSEQUENCE_HPP_

include/aikido/util/VanDerCorput.hpp → include/aikido/common/VanDerCorput.hpp

@@ -1,12 +1,12 @@
-#ifndef AIKIDO_UTIL_VANDERCORPUT_HPP_
-#define AIKIDO_UTIL_VANDERCORPUT_HPP_
+#ifndef AIKIDO_COMMON_VANDERCORPUT_HPP_
+#define AIKIDO_COMMON_VANDERCORPUT_HPP_
 
 #include <limits>
 #include <utility>
 #include <boost/iterator/iterator_facade.hpp>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// Generator for the Van der Corput sequence, a low-discripancy sequence
 /// defined over a real interval. This sequence can be thought of as performing
@@ -96,7 +96,7 @@ class VanDerCorput::const_iterator
   std::pair<double, double> mCurr;
 };
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
-#endif // AIKIDO_UTIL_VANDERCORPUT_HPP_
+#endif // AIKIDO_COMMON_VANDERCORPUT_HPP_

include/aikido/util/detail/ExecutorThread-impl.hpp → include/aikido/common/detail/ExecutorThread-impl.hpp

@@ -1,7 +1,7 @@
-#include <aikido/util/ExecutorThread.hpp>
+#include <aikido/common/ExecutorThread.hpp>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 //==============================================================================
 template <typename Duration>
@@ -15,5 +15,5 @@ ExecutorThread::ExecutorThread(
   // Do nothing
 }
 
-} // namespace util
+} // namespace common
 } // namespace aikido

include/aikido/util/detail/RNG-impl.hpp → include/aikido/common/detail/RNG-impl.hpp

@@ -1,7 +1,7 @@
 #include <cassert>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 //==============================================================================
 constexpr auto RNG::min() -> result_type
@@ -90,5 +90,5 @@ Quaternion sampleQuaternion(
       std::sqrt(u1) * std::cos(2. * M_PI * u3));
 }
 
-} // namespace util
+} // namespace common
 } // namespace aikido

include/aikido/util/detail/Spline-impl.hpp → include/aikido/common/detail/Spline-impl.hpp

@@ -4,7 +4,7 @@
 #include <stdexcept>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 template <class Scalar,
           class Index,
@@ -484,5 +484,5 @@ Scalar SplineProblem<Scalar, Index, _NumCoefficients, _NumOutputs, _NumKnots>::
   }
 }
 
-} // namespace util
+} // namespace common
 } // namespace aikido

include/aikido/util/detail/metaprogramming-impl.hpp → include/aikido/common/detail/metaprogramming-impl.hpp

@@ -1,5 +1,5 @@
 namespace aikido {
-namespace util {
+namespace common {
 
 //==============================================================================
 template <class Pointee>
@@ -31,7 +31,7 @@ struct DynamicCastFactory_raw_ptr
 template <template <class> class Factory,
           template <class> class Pointer,
           class BaseParameter>
-struct DynamicCastFactory<Factory, Pointer, BaseParameter, util::type_list<>>
+struct DynamicCastFactory<Factory, Pointer, BaseParameter, common::type_list<>>
 {
   template <class... Parameters>
   static std::nullptr_t create(
@@ -51,7 +51,7 @@ template <template <class> class Factory,
 struct DynamicCastFactory<Factory,
                           Pointer,
                           BaseParameter,
-                          util::type_list<Arg, Args...>>
+                          common::type_list<Arg, Args...>>
 {
   template <class... Parameters>
   static auto create(
@@ -68,10 +68,10 @@ struct DynamicCastFactory<Factory,
       return DynamicCastFactory<Factory,
                                 Pointer,
                                 BaseParameter,
-                                util::type_list<Args...>>::
+                                common::type_list<Args...>>::
           create(std::move(_base), std::forward<Parameters>(_params)...);
   }
 };
 
-} // namespace util
+} // namespace common
 } // namespace aikido

include/aikido/util/metaprogramming.hpp → include/aikido/common/metaprogramming.hpp

@@ -1,10 +1,10 @@
-#ifndef AIKIDO_UTIL_METAPROGRAMMING_HPP_
-#define AIKIDO_UTIL_METAPROGRAMMING_HPP_
+#ifndef AIKIDO_COMMON_METAPROGRAMMING_HPP_
+#define AIKIDO_COMMON_METAPROGRAMMING_HPP_
 
 #include <memory>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// Wrapper for a variadic template parameter pack of types.
 ///
@@ -61,9 +61,9 @@ struct DynamicCastFactory_shared_ptr;
 template <class Pointee>
 struct DynamicCastFactory_raw_ptr;
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
 #include "detail/metaprogramming-impl.hpp"
 
-#endif // AIKIDO_UTIL_METAPROGRAMMING_HPP_
+#endif // AIKIDO_COMMON_METAPROGRAMMING_HPP_

include/aikido/util/stream.hpp → include/aikido/common/stream.hpp

@@ -1,11 +1,11 @@
-#ifndef AIKIDO_UTIL_STREAM_HPP_
-#define AIKIDO_UTIL_STREAM_HPP_
+#ifndef AIKIDO_COMMON_STREAM_HPP_
+#define AIKIDO_COMMON_STREAM_HPP_
 
 #include <iostream>
 #include <dart/collision/collision.hpp>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// Prints a CollisionObject for debugging purposes.
 /// \param collisionObject object to print
@@ -35,7 +35,7 @@ std::ostream& operator<<(
 
 } // namespace operators
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
-#endif // AIKIDO_UTIL_STREAM_HPP_
+#endif // AIKIDO_COMMON_STREAM_HPP_

include/aikido/util/string.hpp → include/aikido/common/string.hpp

@@ -1,11 +1,11 @@
-#ifndef AIKIDO_UTIL_STRING_HPP_
-#define AIKIDO_UTIL_STRING_HPP_
+#ifndef AIKIDO_COMMON_STRING_HPP_
+#define AIKIDO_COMMON_STRING_HPP_
 
 #include <string>
 #include <vector>
 
 namespace aikido {
-namespace util {
+namespace common {
 
 /// Splits (tokenizes) a string into substrings that are divided by the given
 /// delimiters.
@@ -27,7 +27,7 @@ namespace util {
 std::vector<std::string> split(
     const std::string& string, const std::string& delimiters = " \t");
 
-} // namespace util
+} // namespace common
 } // namespace aikido
 
-#endif // AIKIDO_UTIL_STRING_HPP_
+#endif // AIKIDO_COMMON_STRING_HPP_