DDSPSMC — The tdds namespace should be merged into the dds namespace

The DDS-PSM-Cxx specification groups types constructors into the "tdds" namespace. However this separation makes it harder than it should be to navigate the code. The suggested approach is to remove the "tdds" namespace and migrate those classes into the "dds" namespace by prefixing them with a "T". For instance the "tdds::sub::Subscriber" would become "dds::sub::TSubscriber".

The API code has been refactored to remove the tdds namespace as suggested by the issue description. In addition figure 7.1 in section 7.2 and page 5 has been updated to reflect the new organization and figure 7.2 has been removed.