PCA, build and namespace Fixes

[geoffreychiou]

@akgoins Please review.

1. Fixed some problems to allow for building with catkin tools.
2. @akgoins Fixed some bugs with PCA and added unit tests in sphere_discretization.cpp
3. Removed the use of using namespace to make the code easier to debug.

[jontromanab]

@akgoins and @geoffreychiou I am working on the #11
Is anybody else is working on that? Should I continue or wait for your updates?

[geoffreychiou]

@jontromanab I have not started working on it yet, if you have already started please continue, I can find something else.

• Geoffrey

[jontromanab]

@geoffreychiou I am currently working on #11 #30 and #16
Hope you understand that the time limit was really small. That's why the codes are all messed up. Now its time to make them better.
You are doing an wonderful job. Keep up the good work.

[akgoins]

@geoffreychiou, Sorry, but merging the other PR has broken this one. Please resolve conflict and I will review as soon as possible.

[geoffreychiou]

@akgoins I have resolved the conflict, please check whenever you have some free time.

• Geoff

[Levi-Armstrong]

I believe the catkin tests should be enclosed with the if statement below so the the gtest does not build every time.

if(CATKIN_ENABLE_TESTING)
  catkin_add_gtest(utest test/utest.cpp)
  target_link_libraries(utest sphere_discretization ${catkin_LIBRARIES})
endif()

[Levi-Armstrong]

Suggest using boost::format for everything. I have not tested it, but it should work.

str(boost::format("%s_r%d_reachability.h5" % k.getRobotName() % resolution));

[geoffreychiou]

I had to move the ')' inside to get it to build.

str(boost::format("%s_r%d_reachability.h5") % k.getRobotName() % resolution);

Thanks for the suggestions.

[akgoins]

@geoffreychiou, if you could make the two changes that Levi mentioned, I will merge this PR.

[geoffreychiou]

@akgoins, I have added the changes Levi suggested.

[akgoins]

+1