Clean up the public headers in `common`. (#1775)

In common, BlockingQueue and RateTimer are not used
in any public API and are made internal.

`common/utils.h` is unused code and removed.

Signed-off-by: Wolfgang Hess <whess@lyft.com>

cartographer/cloud/internal/local_trajectory_uploader.cc

@@ -25,7 +25,7 @@
 #include "cartographer/cloud/internal/handlers/add_trajectory_handler.h"
 #include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h"
 #include "cartographer/cloud/internal/sensor/serialization.h"
-#include "cartographer/common/blocking_queue.h"
+#include "cartographer/common/internal/blocking_queue.h"
 #include "glog/logging.h"
 #include "grpc++/grpc++.h"
 

cartographer/cloud/internal/map_builder_context_interface.h

@@ -19,7 +19,7 @@
 
 #include "async_grpc/execution_context.h"
 #include "cartographer/cloud/internal/local_trajectory_uploader.h"
-#include "cartographer/common/blocking_queue.h"
+#include "cartographer/common/internal/blocking_queue.h"
 #include "cartographer/mapping/map_builder_interface.h"
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "cartographer/mapping/proto/serialization.pb.h"

cartographer/cloud/internal/map_builder_server.h

@@ -23,7 +23,7 @@
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/map_builder_server_interface.h"
 #include "cartographer/cloud/proto/map_builder_server_options.pb.h"
-#include "cartographer/common/blocking_queue.h"
+#include "cartographer/common/internal/blocking_queue.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/2d/submap_2d.h"
 #include "cartographer/mapping/3d/submap_3d.h"

cartographer/common/internal/blocking_queue_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/common/blocking_queue.h"
+#include "cartographer/common/internal/blocking_queue.h"
 
 #include <memory>
 #include <thread>

cartographer/common/internal/rate_timer_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/common/rate_timer.h"
+#include "cartographer/common/internal/rate_timer.h"
 
 #include "gtest/gtest.h"
 

cartographer/common/utils.h

@@ -1,34 +0,0 @@
-/*
- * Copyright 2018 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef CARTOGRAPHER_COMMON_UTILS_H_
-#define CARTOGRAPHER_COMMON_UTILS_H_
-
-namespace cartographer {
-namespace common {
-
-template <typename MapType, typename KeyType = typename MapType::key_type,
-          typename ValueType = typename MapType::mapped_type>
-ValueType* FindOrNull(MapType& map, const KeyType& key) {
-  auto it = map.find(key);
-  if (it == map.end()) return nullptr;
-  return &(it->second);
-}
-
-}  // namespace common
-}  // namespace cartographer
-
-#endif  // CARTOGRAPHER_COMMON_UTILS_H_

cartographer/mapping/internal/collated_trajectory_builder.h

@@ -23,8 +23,8 @@
 #include <set>
 #include <string>
 
+#include "cartographer/common/internal/rate_timer.h"
 #include "cartographer/common/port.h"
-#include "cartographer/common/rate_timer.h"
 #include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"

cartographer/sensor/internal/ordered_multi_queue.h

@@ -23,7 +23,7 @@
 #include <string>
 #include <tuple>
 
-#include "cartographer/common/blocking_queue.h"
+#include "cartographer/common/internal/blocking_queue.h"
 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/internal/dispatchable.h"