Rename utils namespace to io (#924)

dartsim · Oct 23, 2017 · 8964ce7 · 8964ce7
1 parent 37bec25
commit 8964ce7
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Showing 93 changed files with 371 additions and 371 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -260,36 +260,36 @@ if(TARGET dart)
   enable_testing()
   add_subdirectory(unittests EXCLUDE_FROM_ALL)
 
-  if (TARGET dart-utils-urdf AND TARGET dart-gui)
+  if (TARGET dart-io-urdf AND TARGET dart-gui)
 
     # Add example targets
-    dart_add_example(examples/addDeleteSkels dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/atlasSimbicon dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/bipedStand dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/hardcodedDesign dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/hybridDynamics dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/jointConstraints dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/mixedChain dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/operationalSpaceControl dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/rigidChain dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/rigidCubes dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/rigidLoop dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/rigidShapes dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/simpleFrames dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/softBodies dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/speedTest dart dart-utils-urdf dart-gui)
-    dart_add_example(examples/vehicle dart dart-utils-urdf dart-gui)
+    dart_add_example(examples/addDeleteSkels dart dart-io-urdf dart-gui)
+    dart_add_example(examples/atlasSimbicon dart dart-io-urdf dart-gui)
+    dart_add_example(examples/bipedStand dart dart-io-urdf dart-gui)
+    dart_add_example(examples/hardcodedDesign dart dart-io-urdf dart-gui)
+    dart_add_example(examples/hybridDynamics dart dart-io-urdf dart-gui)
+    dart_add_example(examples/jointConstraints dart dart-io-urdf dart-gui)
+    dart_add_example(examples/mixedChain dart dart-io-urdf dart-gui)
+    dart_add_example(examples/operationalSpaceControl dart dart-io-urdf dart-gui)
+    dart_add_example(examples/rigidChain dart dart-io-urdf dart-gui)
+    dart_add_example(examples/rigidCubes dart dart-io-urdf dart-gui)
+    dart_add_example(examples/rigidLoop dart dart-io-urdf dart-gui)
+    dart_add_example(examples/rigidShapes dart dart-io-urdf dart-gui)
+    dart_add_example(examples/simpleFrames dart dart-io-urdf dart-gui)
+    dart_add_example(examples/softBodies dart dart-io-urdf dart-gui)
+    dart_add_example(examples/speedTest dart dart-io-urdf dart-gui)
+    dart_add_example(examples/vehicle dart dart-io-urdf dart-gui)
 
     if(TARGET dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgAtlasPuppet dart dart-utils-urdf dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgAtlasSimbicon dart dart-utils-urdf dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgDragAndDrop dart dart-utils-urdf dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgEmpty dart dart-utils-urdf dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgHuboPuppet dart dart-utils-urdf dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgImGui dart dart-utils-urdf dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgOperationalSpaceControl dart dart-utils-urdf dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgSoftBodies dart dart-utils-urdf dart-gui-osg)
-      dart_add_example(examples/osgExamples/osgTinkertoy dart dart-utils-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgAtlasPuppet dart dart-io-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgAtlasSimbicon dart dart-io-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgDragAndDrop dart dart-io-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgEmpty dart dart-io-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgHuboPuppet dart dart-io-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgImGui dart dart-io-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgOperationalSpaceControl dart dart-io-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgSoftBodies dart dart-io-urdf dart-gui-osg)
+      dart_add_example(examples/osgExamples/osgTinkertoy dart dart-io-urdf dart-gui-osg)
     endif()
 
     # Add an "examples" target to build examples.
@@ -309,19 +309,19 @@ if(TARGET dart)
 
     # Add tutorial targets
     if(TARGET dart-collision-bullet)
-      dart_add_tutorial(tutorials/tutorialBiped dart-utils-urdf dart-gui dart-collision-bullet)
-      dart_add_tutorial(tutorials/tutorialBiped-Finished dart-utils-urdf dart-gui dart-collision-bullet)
+      dart_add_tutorial(tutorials/tutorialBiped dart-io-urdf dart-gui dart-collision-bullet)
+      dart_add_tutorial(tutorials/tutorialBiped-Finished dart-io-urdf dart-gui dart-collision-bullet)
     else()
-      dart_add_tutorial(tutorials/tutorialBiped dart-utils-urdf dart-gui)
-      dart_add_tutorial(tutorials/tutorialBiped-Finished dart-utils-urdf dart-gui)
+      dart_add_tutorial(tutorials/tutorialBiped dart-io-urdf dart-gui)
+      dart_add_tutorial(tutorials/tutorialBiped-Finished dart-io-urdf dart-gui)
     endif()
 
-    dart_add_tutorial(tutorials/tutorialCollisions dart-utils-urdf dart-gui)
-    dart_add_tutorial(tutorials/tutorialCollisions-Finished dart-utils-urdf dart-gui)
-    dart_add_tutorial(tutorials/tutorialDominoes dart-utils-urdf dart-gui)
-    dart_add_tutorial(tutorials/tutorialDominoes-Finished dart-utils-urdf dart-gui)
-    dart_add_tutorial(tutorials/tutorialMultiPendulum dart-utils-urdf dart-gui)
-    dart_add_tutorial(tutorials/tutorialMultiPendulum-Finished dart-utils-urdf dart-gui)
+    dart_add_tutorial(tutorials/tutorialCollisions dart-io-urdf dart-gui)
+    dart_add_tutorial(tutorials/tutorialCollisions-Finished dart-io-urdf dart-gui)
+    dart_add_tutorial(tutorials/tutorialDominoes dart-io-urdf dart-gui)
+    dart_add_tutorial(tutorials/tutorialDominoes-Finished dart-io-urdf dart-gui)
+    dart_add_tutorial(tutorials/tutorialMultiPendulum dart-io-urdf dart-gui)
+    dart_add_tutorial(tutorials/tutorialMultiPendulum-Finished dart-io-urdf dart-gui)
 
     # Add a "tutorials" target to build tutorials.
     get_property(tutorials GLOBAL PROPERTY DART_TUTORIALS)

diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -27,7 +27,7 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
 #   bullet
 # constraint
 # simulation
-# utils
+# io
 #   sdf
 #   urdf
 # gui
@@ -43,8 +43,8 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
 # dart-optimizer-ipopt - {dart}, optimizer/ipopt, [ipopt]
 # dart-optimizer-nlopt - {dart}, optimizer/nlopt, [nlopt]
 # dart-collision-bullet - {dart}, collision/bullet, [bullet]
-# dart-utils - {dart}, utils, utils/sdf, [tinyxml, tinyxml2]
-# dart-utils-urdf - {dart-utils}, utils/urdf, [urdfdom]
+# dart-io - {dart}, io, io/sdf, [tinyxml, tinyxml2]
+# dart-io-urdf - {dart-io}, io/urdf, [urdfdom]
 # dart-gui - {dart}, gui, [opengl, glut]
 # dart-gui-osg - {dart-gui}, gui/osg, gui/osg/render, [openscenegraph]
 
@@ -55,9 +55,9 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
 # optimizer-ipopt - (dart), {dart-optimizer-ipopt}
 # optimizer-nlopt - (dart), {dart-optimizer-nlopt}
 # collision-bullet - (dart), {dart-collision-bullet}
-# utils - (collision-bullet), {dart-utils}
-# utils-urdf - (utils), {dart-utils-urdf}
-# gui - (utils), {dart-gui}
+# io - (collision-bullet), {dart-io}
+# io-urdf - (io), {dart-io-urdf}
+# gui - (io), {dart-gui}
 # gui-osg - (gui), {dart-gui-osg}
 
 # Component. This should be called before adding subdirectories.
@@ -81,7 +81,7 @@ add_subdirectory(dynamics)
 add_subdirectory(collision)
 add_subdirectory(constraint)
 add_subdirectory(simulation)
-add_subdirectory(utils) # tinyxml, tinyxml2, bullet
+add_subdirectory(io) # tinyxml, tinyxml2, bullet
 add_subdirectory(gui) # opengl, glut, bullet
 
 set(DART_CONFIG_HPP_IN ${CMAKE_SOURCE_DIR}/dart/config.hpp.in)

diff --git a/dart/gui/CMakeLists.txt b/dart/gui/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Dependency checks
-if (NOT TARGET dart-utils)
+if (NOT TARGET dart-io)
   return()
 endif()
 
@@ -40,7 +40,7 @@ target_include_directories(
 target_link_libraries(
   ${target_name}
   PUBLIC
-    dart-utils
+    dart-io
     ${GLUT_LIBRARY}
     ${OPENGL_LIBRARIES}
     ${PROJECT_NAME}-external-lodepng
@@ -53,7 +53,7 @@ add_component_targets(${PROJECT_NAME} ${component_name} ${target_name})
 add_component_dependencies(
   ${PROJECT_NAME}
   ${component_name}
-  utils
+  io
   external-lodepng
   external-imgui
 )

diff --git a/dart/gui/SimWindow.cpp b/dart/gui/SimWindow.cpp
@@ -62,7 +62,7 @@
 #include "dart/gui/LoadGlut.hpp"
 #include "dart/gui/GLFuncs.hpp"
 #include "dart/gui/GraphWindow.hpp"
-#include "dart/utils/FileInfoWorld.hpp"
+#include "dart/io/FileInfoWorld.hpp"
 
 namespace dart {
 namespace gui {
@@ -259,7 +259,7 @@ void SimWindow::setWorld(simulation::WorldPtr _world) {
 void SimWindow::saveWorld() {
   if (!mWorld)
     return;
-  dart::utils::FileInfoWorld worldFile;
+  dart::io::FileInfoWorld worldFile;
   worldFile.saveFile("tempWorld.txt", mWorld->getRecording());
 }
 

diff --git a/dart/gui/osg/Utils.hpp b/dart/gui/osg/Utils.hpp
@@ -30,8 +30,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_UTILS_HPP_
-#define DART_GUI_OSG_UTILS_HPP_
+#ifndef DART_GUI_OSG_IO_HPP_
+#define DART_GUI_OSG_IO_HPP_
 
 #include <Eigen/Geometry>
 
@@ -85,4 +85,4 @@ inline Eigen::Vector4d osgToEigVec4(const ::osg::Vec4d& vec)
   return Eigen::Vector4d(vec[0], vec[1], vec[2], vec[3]);
 }
 
-#endif // DART_GUI_OSG_UTILS_HPP_
+#endif // DART_GUI_OSG_IO_HPP_
diff --git a/dart/utils/C3D.cpp → dart/io/C3D.cpp b/dart/utils/C3D.cpp → dart/io/C3D.cpp
@@ -30,7 +30,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/C3D.hpp"
+#include "dart/io/C3D.hpp"
 
 #include <cstring>
 #include <cstdio>
@@ -40,7 +40,7 @@
 ///////////////////////////////////////////////////////////////////////
 
 namespace dart {
-namespace utils {
+namespace io {
 
 float convertDecToFloat(char _bytes[4]) {
     union {
@@ -225,6 +225,6 @@ bool saveC3DFile(const char* _fileName, Eigen::EIGEN_VV_VEC3D& _pointData, int _
     return true;
 }
 
-} // namespace utils
+} // namespace io
 } // namespace dart
 
diff --git a/dart/utils/C3D.hpp → dart/io/C3D.hpp b/dart/utils/C3D.hpp → dart/io/C3D.hpp
@@ -30,8 +30,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_C3D_HPP_
-#define DART_UTILS_C3D_HPP_
+#ifndef DART_IO_C3D_HPP_
+#define DART_IO_C3D_HPP_
 
 #include <vector>
 #include <ctime>
@@ -41,7 +41,7 @@
 ////////////////////////////////////////////////////////////////////////////////
 //  C3D file reader and writer
 namespace dart {
-namespace utils {
+namespace io {
 
 #define C3D_REC_SIZE   512
 
@@ -86,9 +86,9 @@ bool loadC3DFile( const char* _fileName, Eigen::EIGEN_VV_VEC3D& _pointData,
 bool saveC3DFile( const char* _fileName, Eigen::EIGEN_VV_VEC3D& _pointData,
                   int _nFrame, int _nMarker, double _freq );
 
-} // namespace utils
+} // namespace io
 } // namespace dart
 
-#endif // #ifndef DART_UTILS_C3D_HPP_
+#endif // #ifndef DART_IO_C3D_HPP_
 
 
diff --git a/dart/utils/CMakeLists.txt → dart/io/CMakeLists.txt b/dart/utils/CMakeLists.txt → dart/io/CMakeLists.txt
@@ -1,34 +1,34 @@
 # Dependency checks
 find_package(TINYXML 2.6.2 QUIET)
-dart_check_optional_package(TINYXML "dart-utils" "tinyxml" "2.6.2")
+dart_check_optional_package(TINYXML "dart-io" "tinyxml" "2.6.2")
 
 find_package(TINYXML2 QUIET)
-dart_check_optional_package(TINYXML2 "dart-utils" "tinyxml2" "1.0.1")
+dart_check_optional_package(TINYXML2 "dart-io" "tinyxml2" "1.0.1")
 
 # Search all header and source files
 file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
 
-function(dart_add_utils_headers)
-  dart_property_add(DART_UTILS_HEADERS ${ARGN})
-endfunction(dart_add_utils_headers)
+function(dart_add_io_headers)
+  dart_property_add(DART_IO_HEADERS ${ARGN})
+endfunction(dart_add_io_headers)
 
-function(dart_add_utils_sources)
-  dart_property_add(DART_UTILS_SOURCES ${ARGN})
-endfunction(dart_add_utils_sources)
+function(dart_add_io_sources)
+  dart_property_add(DART_IO_SOURCES ${ARGN})
+endfunction(dart_add_io_sources)
 
 # Add subdirectories
 add_subdirectory(sdf)
 
-get_property(dart_utils_headers GLOBAL PROPERTY DART_UTILS_HEADERS)
-get_property(dart_utils_sources GLOBAL PROPERTY DART_UTILS_SOURCES)
+get_property(dart_io_headers GLOBAL PROPERTY DART_IO_HEADERS)
+get_property(dart_io_sources GLOBAL PROPERTY DART_IO_SOURCES)
 
 # Set local target name
-set(target_name ${PROJECT_NAME}-utils)
-set(component_name utils)
+set(target_name ${PROJECT_NAME}-io)
+set(component_name io)
 
 # Add target
-dart_add_library(${target_name} ${hdrs} ${srcs} ${dart_utils_headers} ${dart_utils_sources})
+dart_add_library(${target_name} ${hdrs} ${srcs} ${dart_io_headers} ${dart_io_sources})
 target_include_directories(
   ${target_name} SYSTEM
   PUBLIC
@@ -48,7 +48,7 @@ add_component_targets(${PROJECT_NAME} ${component_name} ${target_name})
 add_component_dependencies(${PROJECT_NAME} ${component_name} dart)
 
 # Generate header for this namespace
-dart_get_filename_components(header_names "utils headers" ${hdrs})
+dart_get_filename_components(header_names "io headers" ${hdrs})
 if(urdfdom_FOUND)
   list(APPEND header_names "urdf/urdf.hpp")
 endif()
@@ -58,20 +58,20 @@ set(
   sdf/sdf.hpp
 )
 dart_generate_include_header_list(
-  utils_headers
-  "dart/utils/"
-  "utils headers"
+  io_headers
+  "dart/io/"
+  "io headers"
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/utils.hpp.in
-  ${CMAKE_CURRENT_BINARY_DIR}/utils.hpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/io.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/io.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/utils.hpp
-  DESTINATION include/dart/utils
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/io.hpp
+  DESTINATION include/dart/io
   COMPONENT headers
 )
 

diff --git a/dart/utils/CompositeResourceRetriever.cpp → dart/io/CompositeResourceRetriever.cpp b/dart/utils/CompositeResourceRetriever.cpp → dart/io/CompositeResourceRetriever.cpp
@@ -33,10 +33,10 @@
 #include <iostream>
 #include "dart/common/Console.hpp"
 #include "dart/common/Uri.hpp"
-#include "dart/utils/CompositeResourceRetriever.hpp"
+#include "dart/io/CompositeResourceRetriever.hpp"
 
 namespace dart {
-namespace utils {
+namespace io {
 
 //==============================================================================
 void CompositeResourceRetriever::addDefaultRetriever(
@@ -131,5 +131,5 @@ std::vector<common::ResourceRetrieverPtr>
   return retrievers;
 }
 
-} // namespace utils
+} // namespace io
 } // namespace dart
diff --git a/dart/utils/CompositeResourceRetriever.hpp → dart/io/CompositeResourceRetriever.hpp b/dart/utils/CompositeResourceRetriever.hpp → dart/io/CompositeResourceRetriever.hpp
@@ -30,15 +30,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
-#define DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
+#ifndef DART_IO_COMPOSITERESOURCERETRIEVER_HPP_
+#define DART_IO_COMPOSITERESOURCERETRIEVER_HPP_
 
 #include <unordered_map>
 #include <vector>
 #include "dart/common/ResourceRetriever.hpp"
 
 namespace dart {
-namespace utils {
+namespace io {
 
 /// CompositeResourceRetriever allows multiple \ref ResourceRetriever to be
 /// used interchangably by: (1) associating each \ref ResourceRetriever with a
@@ -84,7 +84,7 @@ class CompositeResourceRetriever : public virtual common::ResourceRetriever
 using CompositeResourceRetrieverPtr
   = std::shared_ptr<CompositeResourceRetriever>;
 
-} // namespace utils
+} // namespace io
 } // namespace dart
 
-#endif // ifndef DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
+#endif // ifndef DART_IO_COMPOSITERESOURCERETRIEVER_HPP_