From 173fb7636743270b531ba4b55a7f22f23953fc59 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Wed, 4 Jan 2023 13:29:44 -0800
Subject: [PATCH] compile definitions for conditionally compiling

---
 CMakeLists.txt | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 52b34101f..21f8b28a1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,12 @@ if(NOT DEFINED CMAKE_MACOSX_RPATH)
   set(CMAKE_MACOSX_RPATH 0)
 endif()
 
+option(GTSAM_NO_BOOST_CPP17 "Require and use boost" ON)
+
+if (GTSAM_NO_BOOST_CPP17)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
 # Set the version number for the library
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 3)
@@ -51,7 +57,11 @@ endif()
 include(cmake/HandleGeneralOptions.cmake)   # CMake build options
 
 # Libraries:
-include(cmake/HandleBoost.cmake)            # Boost
+if (GTSAM_NO_BOOST_CPP17)
+  include(cmake/HandleBoost.cmake)            # Boost
+  add_definitions(-DNO_BOOST_CPP17)
+endif()
+  
 include(cmake/HandleCCache.cmake)           # ccache
 include(cmake/HandleCPack.cmake)            # CPack
 include(cmake/HandleEigen.cmake)            # Eigen3