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Rename module names, e.g. "precision_module" -> "precision" #8

@certik

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@certik

I think the _module in all modules name is redundant. I propose to rename:
solution_module -> solution
solver_module -> solver
precision_module -> precision
controller_module -> controller
geometry_module -> geometry

It's easier to type and consistent with other module names. Just like in Python, you also don't append _module to Python module names.

If you agree, I'll send a PR.

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