From 5a257ff36b4a7bc400aaac18d72533abd2b6021c Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Fri, 20 Jan 2023 17:51:38 -0800
Subject: [PATCH] boost::bind and placeholders

---
 gtsam/basis/tests/testChebyshev2.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/gtsam/basis/tests/testChebyshev2.cpp b/gtsam/basis/tests/testChebyshev2.cpp
index 177ea5b49..56a79a38a 100644
--- a/gtsam/basis/tests/testChebyshev2.cpp
+++ b/gtsam/basis/tests/testChebyshev2.cpp
@@ -25,10 +25,10 @@
 #include <gtsam/base/Testable.h>
 
 #include <CppUnitLite/TestHarness.h>
+#include <functional>
 
 using namespace std;
 using namespace gtsam;
-using namespace boost::placeholders;
 
 namespace {
 noiseModel::Diagonal::shared_ptr model = noiseModel::Unit::Create(1);
@@ -119,8 +119,8 @@ TEST(Chebyshev2, InterpolateVector) {
   EXPECT(assert_equal(expected, fx(X, actualH), 1e-9));
 
   // Check derivative
-  std::function<Vector2(ParameterMatrix<2>)> f = boost::bind(
-      &Chebyshev2::VectorEvaluationFunctor<2>::operator(), fx, _1, nullptr);
+  std::function<Vector2(ParameterMatrix<2>)> f = std::bind(
+      &Chebyshev2::VectorEvaluationFunctor<2>::operator(), fx, std::placeholders::_1, nullptr);
   Matrix numericalH =
       numericalDerivative11<Vector2, ParameterMatrix<2>, 2 * N>(f, X);
   EXPECT(assert_equal(numericalH, actualH, 1e-9));
@@ -378,7 +378,7 @@ TEST(Chebyshev2, VectorDerivativeFunctor) {
 
   // Test Jacobian
   Matrix expectedH = numericalDerivative11<Vector2, ParameterMatrix<M>, M * N>(
-      boost::bind(&VecD::operator(), fx, _1, nullptr), X);
+      std::bind(&VecD::operator(), fx, std::placeholders::_1, nullptr), X);
   EXPECT(assert_equal(expectedH, actualH, 1e-7));
 }
 
@@ -410,7 +410,7 @@ TEST(Chebyshev2, VectorDerivativeFunctor2) {
   VecD vecd(N, points(0), 0, T);
   vecd(X, actualH);
   Matrix expectedH = numericalDerivative11<Vector1, ParameterMatrix<M>, M * N>(
-      boost::bind(&VecD::operator(), vecd, _1, nullptr), X);
+      std::bind(&VecD::operator(), vecd, std::placeholders::_1, nullptr), X);
   EXPECT(assert_equal(expectedH, actualH, 1e-6));
 }
 
@@ -427,7 +427,7 @@ TEST(Chebyshev2, ComponentDerivativeFunctor) {
   EXPECT_DOUBLES_EQUAL(0, fx(X, actualH), 1e-8);
 
   Matrix expectedH = numericalDerivative11<double, ParameterMatrix<M>, M * N>(
-      boost::bind(&CompFunc::operator(), fx, _1, nullptr), X);
+      std::bind(&CompFunc::operator(), fx, std::placeholders::_1, nullptr), X);
   EXPECT(assert_equal(expectedH, actualH, 1e-7));
 }