math

gtsam/base/types.h

@@ -234,27 +234,27 @@ namespace gtsam {
 
 #if (_MSC_VER < 1800)
 
-#include <boost/math/special_functions/fpclassify.hpp>
+#include <cmath>
 namespace std {
   template<typename T> inline int isfinite(T a) {
-    return (int)boost::math::isfinite(a); }
+    return (int)std::isfinite(a); }
   template<typename T> inline int isnan(T a) {
-    return (int)boost::math::isnan(a); }
+    return (int)std::isnan(a); }
   template<typename T> inline int isinf(T a) {
-    return (int)boost::math::isinf(a); }
+    return (int)std::isinf(a); }
 }
 
 #endif
 
-#include <boost/math/constants/constants.hpp>
+#include <cmath>
 #ifndef M_PI
-#define M_PI (boost::math::constants::pi<double>())
+#define M_PI (3.14159265358979323846)
 #endif
 #ifndef M_PI_2
-#define M_PI_2 (boost::math::constants::pi<double>() / 2.0)
+#define M_PI_2 (M_PI / 2.0)
 #endif
 #ifndef M_PI_4
-#define M_PI_4 (boost::math::constants::pi<double>() / 4.0)
+#define M_PI_4 (M_PI / 4.0)
 #endif
 
 #endif

gtsam/geometry/tests/testRot3.cpp

@@ -24,8 +24,6 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/lieProxies.h>
 
-#include <boost/math/constants/constants.hpp>
-
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;
@@ -197,7 +195,7 @@ TEST( Rot3, retract)
 
 /* ************************************************************************* */
 TEST( Rot3, log) {
-  static const double PI = boost::math::constants::pi<double>();
+  static const double PI = std::acos(-1.0);
   Vector w;
   Rot3 R;
 

gtsam/nonlinear/ISAM2Params.h

@@ -21,7 +21,7 @@
 
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/nonlinear/DoglegOptimizerImpl.h>
-#include <boost/variant.hpp>
+
 #include <string>
 
 namespace gtsam {

gtsam/nonlinear/ISAM2Result.h

@@ -27,8 +27,6 @@
 #include <gtsam/nonlinear/ISAM2Params.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
-#include <boost/variant.hpp>
-
 namespace gtsam {
 
 /**