From 0ee985b629b537313fcf62ba3016e42650262e35 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 5 Feb 2023 19:45:03 -0800
Subject: [PATCH] No more list_inserter

---
 gtsam/inference/FactorGraph.h | 7 +++++++
 gtsam/inference/Ordering.h    | 3 +++
 2 files changed, 10 insertions(+)

diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index caaa13cae..f1dc37c37 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -29,7 +29,10 @@
 
 #include <Eigen/Core>  // for Eigen::aligned_allocator
 
+#ifdef GTSAM_USE_BOOST_FEATURES
 #include <boost/assign/list_inserter.hpp>
+#endif
+
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/vector.hpp>
@@ -212,6 +215,7 @@ class FactorGraph {
     push_back(factor);
   }
 
+#ifdef GTSAM_USE_BOOST_FEATURES
   /// `+=` works well with boost::assign list inserter.
   template <class DERIVEDFACTOR>
   typename std::enable_if<
@@ -221,6 +225,7 @@ class FactorGraph {
     return boost::assign::make_list_inserter(RefCallPushBack<This>(*this))(
         factor);
   }
+#endif
 
   /// @}
   /// @name Adding via iterators
@@ -271,6 +276,7 @@ class FactorGraph {
     push_back(factorOrContainer);
   }
 
+#ifdef GTSAM_USE_BOOST_FEATURES
   /**
    * Add a factor or container of factors, including STL collections,
    * BayesTrees, etc.
@@ -281,6 +287,7 @@ class FactorGraph {
     return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this))(
         factorOrContainer);
   }
+#endif
 
   /// @}
   /// @name Specialized versions
diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 634fb64e2..884a93f0d 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -25,7 +25,10 @@
 #include <gtsam/inference/MetisIndex.h>
 #include <gtsam/base/FastSet.h>
 
+#ifdef GTSAM_USE_BOOST_FEATURES
 #include <boost/assign/list_inserter.hpp>
+#endif
+
 #include <algorithm>
 #include <vector>