From 703cb5cbc748cebfb9d4580320a02c4bb77515cf Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Fri, 20 Jan 2023 13:49:37 -0800
Subject: [PATCH] remove make_shared header

---
 examples/CameraResectioning.cpp                         | 1 -
 gtsam/base/DSFVector.cpp                                | 2 +-
 gtsam/base/GenericValue.h                               | 1 -
 gtsam/base/Value.h                                      | 1 -
 gtsam/base/make_shared.h                                | 1 -
 gtsam/base/tests/testDSFVector.cpp                      | 1 -
 gtsam/base/tests/testTreeTraversal.cpp                  | 1 -
 gtsam/base/treeTraversal-inst.h                         | 1 -
 gtsam/base/treeTraversal/parallelTraversalTasks.h       | 1 -
 gtsam/discrete/DecisionTree-inl.h                       | 1 -
 gtsam/discrete/DecisionTreeFactor.cpp                   | 1 -
 gtsam/discrete/DiscreteBayesNet.cpp                     | 1 -
 gtsam/discrete/DiscreteConditional.cpp                  | 1 -
 gtsam/discrete/DiscreteConditional.h                    | 1 -
 gtsam/discrete/DiscreteFactorGraph.h                    | 1 -
 gtsam/discrete/tests/testDiscreteConditional.cpp        | 1 -
 gtsam/geometry/PinholePose.h                            | 1 -
 gtsam/hybrid/HybridConditional.h                        | 1 -
 gtsam/inference/EliminationTree-inst.h                  | 1 -
 gtsam/inference/FactorGraph.h                           | 1 -
 gtsam/linear/HessianFactor.cpp                          | 1 -
 gtsam/linear/HessianFactor.h                            | 1 -
 gtsam/linear/JacobianFactor.cpp                         | 1 -
 gtsam/linear/JacobianFactor.h                           | 1 -
 gtsam/linear/KalmanFilter.cpp                           | 1 -
 gtsam/linear/NoiseModel.cpp                             | 1 -
 gtsam/linear/tests/testGaussianConditional.cpp          | 1 -
 gtsam/navigation/PreintegrationBase.cpp                 | 1 -
 gtsam/navigation/PreintegrationParams.h                 | 1 -
 gtsam/navigation/TangentPreintegration.cpp              | 1 -
 gtsam/nonlinear/Expression.h                            | 1 -
 gtsam/nonlinear/NonlinearFactor.cpp                     | 1 -
 gtsam/slam/SmartFactorBase.h                            | 1 -
 gtsam/slam/SmartProjectionFactor.h                      | 1 -
 gtsam/slam/TriangulationFactor.h                        | 1 -
 gtsam/symbolic/SymbolicFactor-inst.h                    | 1 -
 gtsam/symbolic/SymbolicFactor.h                         | 1 -
 gtsam/symbolic/SymbolicFactorGraph.cpp                  | 1 -
 gtsam/symbolic/tests/testSymbolicBayesNet.cpp           | 1 -
 gtsam/symbolic/tests/testSymbolicConditional.cpp        | 1 -
 gtsam/symbolic/tests/testSymbolicEliminationTree.cpp    | 1 -
 gtsam/symbolic/tests/testSymbolicFactor.cpp             | 1 -
 gtsam_unstable/discrete/AllDiff.cpp                     | 1 -
 gtsam_unstable/discrete/Domain.cpp                      | 1 -
 gtsam_unstable/discrete/SingleValue.cpp                 | 1 -
 gtsam_unstable/nonlinear/tests/testParticleFactor.cpp   | 1 -
 gtsam_unstable/partition/GenericGraph.cpp               | 1 -
 gtsam_unstable/partition/NestedDissection-inl.h         | 1 -
 gtsam_unstable/partition/tests/testFindSeparator.cpp    | 1 -
 gtsam_unstable/partition/tests/testGenericGraph.cpp     | 1 -
 gtsam_unstable/partition/tests/testNestedDissection.cpp | 1 -
 gtsam_unstable/slam/SmartStereoProjectionFactor.h       | 1 -
 52 files changed, 1 insertion(+), 52 deletions(-)

diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp
index ab3a214e8..dc451cfe3 100644
--- a/examples/CameraResectioning.cpp
+++ b/examples/CameraResectioning.cpp
@@ -20,7 +20,6 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3_S2.h>
-#include <boost/make_shared.hpp>
 
 using namespace gtsam;
 using namespace gtsam::noiseModel;
diff --git a/gtsam/base/DSFVector.cpp b/gtsam/base/DSFVector.cpp
index ebc0ed603..75a4ef3d7 100644
--- a/gtsam/base/DSFVector.cpp
+++ b/gtsam/base/DSFVector.cpp
@@ -17,8 +17,8 @@
  */
 
 #include <gtsam/base/DSFVector.h>
-#include <boost/make_shared.hpp>
 #include <algorithm>
+#include <cassert>
 
 using namespace std;
 
diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
index 0a9a34f34..f83a067fb 100644
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@@ -23,7 +23,6 @@
 #include <gtsam/base/types.h>
 #include <gtsam/base/Value.h>
 
-#include <boost/make_shared.hpp>
 #include <boost/pool/pool_alloc.hpp>
 
 #include <cmath>
diff --git a/gtsam/base/Value.h b/gtsam/base/Value.h
index 19daada12..f824b388e 100644
--- a/gtsam/base/Value.h
+++ b/gtsam/base/Value.h
@@ -21,7 +21,6 @@
 #include <gtsam/config.h>      // Configuration from CMake
 
 #include <gtsam/base/Vector.h>
-#include <boost/make_shared.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/assume_abstract.hpp>
 #include <memory>
diff --git a/gtsam/base/make_shared.h b/gtsam/base/make_shared.h
index 76d12b797..98a4a7ef7 100644
--- a/gtsam/base/make_shared.h
+++ b/gtsam/base/make_shared.h
@@ -21,7 +21,6 @@
 
 #include <Eigen/Core>
 
-#include <boost/make_shared.hpp>
 
 #include <type_traits>
 
diff --git a/gtsam/base/tests/testDSFVector.cpp b/gtsam/base/tests/testDSFVector.cpp
index 2036a5ecd..c626f941c 100644
--- a/gtsam/base/tests/testDSFVector.cpp
+++ b/gtsam/base/tests/testDSFVector.cpp
@@ -20,7 +20,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/make_shared.hpp>
 
 #include <iostream>
 #include <set>
diff --git a/gtsam/base/tests/testTreeTraversal.cpp b/gtsam/base/tests/testTreeTraversal.cpp
index 0bddfbba0..74660bb17 100644
--- a/gtsam/base/tests/testTreeTraversal.cpp
+++ b/gtsam/base/tests/testTreeTraversal.cpp
@@ -22,7 +22,6 @@
 #include <vector>
 #include <list>
 #include <memory>
-#include <boost/make_shared.hpp>
 
 using namespace gtsam;
 
diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h
index 975c54e6f..4c6d74806 100644
--- a/gtsam/base/treeTraversal-inst.h
+++ b/gtsam/base/treeTraversal-inst.h
@@ -28,7 +28,6 @@
 #include <vector>
 #include <string>
 #include <memory>
-#include <boost/make_shared.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/base/treeTraversal/parallelTraversalTasks.h b/gtsam/base/treeTraversal/parallelTraversalTasks.h
index 6271401e7..41996a350 100644
--- a/gtsam/base/treeTraversal/parallelTraversalTasks.h
+++ b/gtsam/base/treeTraversal/parallelTraversalTasks.h
@@ -19,7 +19,6 @@
 #include <gtsam/global_includes.h>
 
 #include <memory>
-#include <boost/make_shared.hpp>
 
 #ifdef GTSAM_USE_TBB
 #include <tbb/task_group.h>         // tbb::task_group
diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 761b01843..da72bf71f 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -23,7 +23,6 @@
 
 #include <algorithm>
 #include <boost/format.hpp>
-#include <boost/make_shared.hpp>
 
 #include <cmath>
 #include <fstream>
diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 090eb2ebf..399216b83 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -22,7 +22,6 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteConditional.h>
 
-#include <boost/make_shared.hpp>
 #include <boost/format.hpp>
 #include <utility>
 
diff --git a/gtsam/discrete/DiscreteBayesNet.cpp b/gtsam/discrete/DiscreteBayesNet.cpp
index 97734c3bb..451f5f07b 100644
--- a/gtsam/discrete/DiscreteBayesNet.cpp
+++ b/gtsam/discrete/DiscreteBayesNet.cpp
@@ -20,7 +20,6 @@
 #include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/inference/FactorGraph-inst.h>
 
-#include <boost/make_shared.hpp>
 #include <boost/range/adaptor/reversed.hpp>
 
 namespace gtsam {
diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
index 0c47bbdb8..c40573ee8 100644
--- a/gtsam/discrete/DiscreteConditional.cpp
+++ b/gtsam/discrete/DiscreteConditional.cpp
@@ -23,7 +23,6 @@
 #include <gtsam/hybrid/HybridValues.h>
 
 #include <algorithm>
-#include <boost/make_shared.hpp>
 #include <random>
 #include <set>
 #include <stdexcept>
diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index 492da5048..854f5f43d 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -22,7 +22,6 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/Signature.h>
 
-#include <boost/make_shared.hpp>
 #include <memory>
 #include <string>
 #include <vector>
diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index 2676b4c42..d698a00c6 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -25,7 +25,6 @@
 #include <gtsam/inference/Ordering.h>
 #include <gtsam/base/FastSet.h>
 
-#include <boost/make_shared.hpp>
 #include <string>
 #include <utility>
 #include <vector>
diff --git a/gtsam/discrete/tests/testDiscreteConditional.cpp b/gtsam/discrete/tests/testDiscreteConditional.cpp
index 6e73cfc6e..aa393d74c 100644
--- a/gtsam/discrete/tests/testDiscreteConditional.cpp
+++ b/gtsam/discrete/tests/testDiscreteConditional.cpp
@@ -23,7 +23,6 @@
 #include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/inference/Symbol.h>
 
-#include <boost/make_shared.hpp>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 022dbb439..813f04aaa 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -21,7 +21,6 @@
 
 #include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/geometry/Point2.h>
-#include <boost/make_shared.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 4bb7b5353..b38942bf5 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -25,7 +25,6 @@
 #include <gtsam/inference/Key.h>
 #include <gtsam/linear/GaussianConditional.h>
 
-#include <boost/make_shared.hpp>
 #include <memory>
 #include <stdexcept>
 #include <string>
diff --git a/gtsam/inference/EliminationTree-inst.h b/gtsam/inference/EliminationTree-inst.h
index d4ea9d32b..cd1684d9d 100644
--- a/gtsam/inference/EliminationTree-inst.h
+++ b/gtsam/inference/EliminationTree-inst.h
@@ -17,7 +17,6 @@
 */
 #pragma once
 
-#include <boost/make_shared.hpp>
 #include <stack>
 
 #include <gtsam/base/timing.h>
diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index a1d6611ca..62259dd31 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -30,7 +30,6 @@
 #include <Eigen/Core>  // for Eigen::aligned_allocator
 
 #include <boost/assign/list_inserter.hpp>
-#include <boost/make_shared.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/vector.hpp>
 
diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp
index ae65e17b8..194a7ca53 100644
--- a/gtsam/linear/HessianFactor.cpp
+++ b/gtsam/linear/HessianFactor.cpp
@@ -30,7 +30,6 @@
 #include <gtsam/base/timing.h>
 
 #include <boost/format.hpp>
-#include <boost/make_shared.hpp>
 #include <boost/tuple/tuple.hpp>
 #include <boost/range/adaptor/transformed.hpp>
 #include <boost/range/adaptor/map.hpp>
diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h
index c3756801f..0d67030d7 100644
--- a/gtsam/linear/HessianFactor.h
+++ b/gtsam/linear/HessianFactor.h
@@ -23,7 +23,6 @@
 #include <gtsam/base/SymmetricBlockMatrix.h>
 #include <gtsam/base/FastVector.h>
 
-#include <boost/make_shared.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index b96856644..6f8bd99f9 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -32,7 +32,6 @@
 #include <gtsam/base/cholesky.h>
 
 #include <boost/format.hpp>
-#include <boost/make_shared.hpp>
 #include <boost/array.hpp>
 #include <boost/range/algorithm/copy.hpp>
 #include <boost/range/adaptor/indirected.hpp>
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index 43ef958b9..40b109b11 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -24,7 +24,6 @@
 #include <gtsam/global_includes.h>
 #include <gtsam/inference/VariableSlots.h>
 
-#include <boost/make_shared.hpp>
 #include <boost/serialization/version.hpp>
 #include <boost/serialization/split_member.hpp>
 
diff --git a/gtsam/linear/KalmanFilter.cpp b/gtsam/linear/KalmanFilter.cpp
index 4872194a1..ad6d31e1e 100644
--- a/gtsam/linear/KalmanFilter.cpp
+++ b/gtsam/linear/KalmanFilter.cpp
@@ -26,7 +26,6 @@
 #include <gtsam/linear/HessianFactor.h>
 #include <gtsam/base/Testable.h>
 
-#include <boost/make_shared.hpp>
 
 using namespace std;
 
diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 97fe65a3e..5123c2656 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -20,7 +20,6 @@
 #include <gtsam/base/timing.h>
 
 #include <boost/format.hpp>
-#include <boost/make_shared.hpp>
 
 #include <cmath>
 #include <iostream>
diff --git a/gtsam/linear/tests/testGaussianConditional.cpp b/gtsam/linear/tests/testGaussianConditional.cpp
index 0479ce9a1..a4a722012 100644
--- a/gtsam/linear/tests/testGaussianConditional.cpp
+++ b/gtsam/linear/tests/testGaussianConditional.cpp
@@ -27,7 +27,6 @@
 #include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/hybrid/HybridValues.h>
 
-#include <boost/make_shared.hpp>
 
 #include <iostream>
 #include <sstream>
diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp
index 9b446bcf7..f573c4010 100644
--- a/gtsam/navigation/PreintegrationBase.cpp
+++ b/gtsam/navigation/PreintegrationBase.cpp
@@ -22,7 +22,6 @@
 
 #include "PreintegrationBase.h"
 #include <gtsam/base/numericalDerivative.h>
-#include <boost/make_shared.hpp>
 
 using namespace std;
 
diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index 6a1f46684..ab32343b8 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -17,7 +17,6 @@
 #pragma once
 
 #include <gtsam/navigation/PreintegratedRotation.h>
-#include <boost/make_shared.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/navigation/TangentPreintegration.cpp b/gtsam/navigation/TangentPreintegration.cpp
index ca0021452..e8579daba 100644
--- a/gtsam/navigation/TangentPreintegration.cpp
+++ b/gtsam/navigation/TangentPreintegration.cpp
@@ -17,7 +17,6 @@
 
 #include "TangentPreintegration.h"
 #include <gtsam/base/numericalDerivative.h>
-#include <boost/make_shared.hpp>
 
 using namespace std;
 
diff --git a/gtsam/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h
index a0d204f64..6e3c634cc 100644
--- a/gtsam/nonlinear/Expression.h
+++ b/gtsam/nonlinear/Expression.h
@@ -24,7 +24,6 @@
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/base/VectorSpace.h>
 
-#include <boost/make_shared.hpp>
 #include <map>
 
 // Forward declare tests
diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp
index 732af0e3a..eac65d587 100644
--- a/gtsam/nonlinear/NonlinearFactor.cpp
+++ b/gtsam/nonlinear/NonlinearFactor.cpp
@@ -18,7 +18,6 @@
 
 #include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <boost/make_shared.hpp>
 #include <boost/format.hpp>
 
 namespace gtsam {
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index 6d159972f..a5fc3be1a 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -31,7 +31,6 @@
 
 #include <optional>
 #include <boost/serialization/optional.hpp>
-#include <boost/make_shared.hpp>
 #include <vector>
 
 namespace gtsam {
diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index f7854c79a..1434993e2 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -27,7 +27,6 @@
 #include <gtsam/slam/dataset.h>
 
 #include <optional>
-#include <boost/make_shared.hpp>
 #include <vector>
 
 namespace gtsam {
diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h
index a0bf151b5..c71c94b20 100644
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@@ -19,7 +19,6 @@
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/geometry/CalibratedCamera.h>
-#include <boost/make_shared.hpp>
 #include <boost/lexical_cast.hpp>
 
 namespace gtsam {
diff --git a/gtsam/symbolic/SymbolicFactor-inst.h b/gtsam/symbolic/SymbolicFactor-inst.h
index d9e76baab..85ddf9c79 100644
--- a/gtsam/symbolic/SymbolicFactor-inst.h
+++ b/gtsam/symbolic/SymbolicFactor-inst.h
@@ -24,7 +24,6 @@
 #include <gtsam/base/timing.h>
 
 #include <memory>
-#include <boost/make_shared.hpp>
 
 #include <utility>
 
diff --git a/gtsam/symbolic/SymbolicFactor.h b/gtsam/symbolic/SymbolicFactor.h
index 25b72f168..86ebdffbf 100644
--- a/gtsam/symbolic/SymbolicFactor.h
+++ b/gtsam/symbolic/SymbolicFactor.h
@@ -22,7 +22,6 @@
 #include <gtsam/base/Testable.h>
 
 #include <memory>
-#include <boost/make_shared.hpp>
 
 #include <utility>
 
diff --git a/gtsam/symbolic/SymbolicFactorGraph.cpp b/gtsam/symbolic/SymbolicFactorGraph.cpp
index d5d354eab..ddcb3b2f3 100644
--- a/gtsam/symbolic/SymbolicFactorGraph.cpp
+++ b/gtsam/symbolic/SymbolicFactorGraph.cpp
@@ -15,7 +15,6 @@
  * @author Frank Dellaert
  */
 
-#include <boost/make_shared.hpp>
 
 #include <gtsam/inference/FactorGraph-inst.h>
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
diff --git a/gtsam/symbolic/tests/testSymbolicBayesNet.cpp b/gtsam/symbolic/tests/testSymbolicBayesNet.cpp
index 7795d5b89..64caf399d 100644
--- a/gtsam/symbolic/tests/testSymbolicBayesNet.cpp
+++ b/gtsam/symbolic/tests/testSymbolicBayesNet.cpp
@@ -24,7 +24,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/make_shared.hpp>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam/symbolic/tests/testSymbolicConditional.cpp b/gtsam/symbolic/tests/testSymbolicConditional.cpp
index d5d5cbf14..e888fd3cd 100644
--- a/gtsam/symbolic/tests/testSymbolicConditional.cpp
+++ b/gtsam/symbolic/tests/testSymbolicConditional.cpp
@@ -15,7 +15,6 @@
  * @author  Frank Dellaert
  */
 
-#include <boost/make_shared.hpp>
 
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/TestableAssertions.h>
diff --git a/gtsam/symbolic/tests/testSymbolicEliminationTree.cpp b/gtsam/symbolic/tests/testSymbolicEliminationTree.cpp
index cb370f553..c93eb8593 100644
--- a/gtsam/symbolic/tests/testSymbolicEliminationTree.cpp
+++ b/gtsam/symbolic/tests/testSymbolicEliminationTree.cpp
@@ -21,7 +21,6 @@
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/symbolic/SymbolicEliminationTree.h>
 
-#include <boost/make_shared.hpp>
 #include <vector>
 
 #include "symbolicExampleGraphs.h"
diff --git a/gtsam/symbolic/tests/testSymbolicFactor.cpp b/gtsam/symbolic/tests/testSymbolicFactor.cpp
index 43de74702..646b80ad6 100644
--- a/gtsam/symbolic/tests/testSymbolicFactor.cpp
+++ b/gtsam/symbolic/tests/testSymbolicFactor.cpp
@@ -21,7 +21,6 @@
 #include <gtsam/symbolic/SymbolicConditional.h>
 #include <gtsam/symbolic/SymbolicFactorGraph.h>
 
-#include <boost/make_shared.hpp>
 #include <boost/tuple/tuple.hpp>
 
 using namespace std;
diff --git a/gtsam_unstable/discrete/AllDiff.cpp b/gtsam_unstable/discrete/AllDiff.cpp
index 350fbc4ed..2bd9e6dfd 100644
--- a/gtsam_unstable/discrete/AllDiff.cpp
+++ b/gtsam_unstable/discrete/AllDiff.cpp
@@ -9,7 +9,6 @@
 #include <gtsam_unstable/discrete/AllDiff.h>
 #include <gtsam_unstable/discrete/Domain.h>
 
-#include <boost/make_shared.hpp>
 #include <optional>
 
 namespace gtsam {
diff --git a/gtsam_unstable/discrete/Domain.cpp b/gtsam_unstable/discrete/Domain.cpp
index 4d6dcdd5f..bbbc87667 100644
--- a/gtsam_unstable/discrete/Domain.cpp
+++ b/gtsam_unstable/discrete/Domain.cpp
@@ -9,7 +9,6 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam_unstable/discrete/Domain.h>
 
-#include <boost/make_shared.hpp>
 #include <sstream>
 namespace gtsam {
 
diff --git a/gtsam_unstable/discrete/SingleValue.cpp b/gtsam_unstable/discrete/SingleValue.cpp
index c4cf07276..6b78f38f5 100644
--- a/gtsam_unstable/discrete/SingleValue.cpp
+++ b/gtsam_unstable/discrete/SingleValue.cpp
@@ -10,7 +10,6 @@
 #include <gtsam_unstable/discrete/Domain.h>
 #include <gtsam_unstable/discrete/SingleValue.h>
 
-#include <boost/make_shared.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/nonlinear/tests/testParticleFactor.cpp b/gtsam_unstable/nonlinear/tests/testParticleFactor.cpp
index 6ec0a9029..e4c6f3ca2 100644
--- a/gtsam_unstable/nonlinear/tests/testParticleFactor.cpp
+++ b/gtsam_unstable/nonlinear/tests/testParticleFactor.cpp
@@ -17,7 +17,6 @@
  */
 
 #include <gtsam/linear/NoiseModel.h>
-#include <boost/make_shared.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/partition/GenericGraph.cpp b/gtsam_unstable/partition/GenericGraph.cpp
index 492844b51..5f32ab557 100644
--- a/gtsam_unstable/partition/GenericGraph.cpp
+++ b/gtsam_unstable/partition/GenericGraph.cpp
@@ -6,7 +6,6 @@
  *  Description: generic graph types used in partitioning
  */
 #include <iostream>
-#include <boost/make_shared.hpp>
 #include <boost/lexical_cast.hpp>
 
 #include <gtsam/base/DSFVector.h>
diff --git a/gtsam_unstable/partition/NestedDissection-inl.h b/gtsam_unstable/partition/NestedDissection-inl.h
index 7632a03d2..c377998dd 100644
--- a/gtsam_unstable/partition/NestedDissection-inl.h
+++ b/gtsam_unstable/partition/NestedDissection-inl.h
@@ -8,7 +8,6 @@
 
 #pragma once
 
-#include <boost/make_shared.hpp>
 
 #include "partition/FindSeparator-inl.h"
 #include "OrderedSymbols.h"
diff --git a/gtsam_unstable/partition/tests/testFindSeparator.cpp b/gtsam_unstable/partition/tests/testFindSeparator.cpp
index ce264a228..a659c3c22 100644
--- a/gtsam_unstable/partition/tests/testFindSeparator.cpp
+++ b/gtsam_unstable/partition/tests/testFindSeparator.cpp
@@ -6,7 +6,6 @@
  *  Description: unit tests for FindSeparator
  */
 
-#include <boost/make_shared.hpp>
 #include <CppUnitLite/TestHarness.h>
 
 #include <gtsam_unstable/partition/FindSeparator-inl.h>
diff --git a/gtsam_unstable/partition/tests/testGenericGraph.cpp b/gtsam_unstable/partition/tests/testGenericGraph.cpp
index b1760e5ba..6f326dda1 100644
--- a/gtsam_unstable/partition/tests/testGenericGraph.cpp
+++ b/gtsam_unstable/partition/tests/testGenericGraph.cpp
@@ -10,7 +10,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/make_shared.hpp>
 
 #include <map>
 
diff --git a/gtsam_unstable/partition/tests/testNestedDissection.cpp b/gtsam_unstable/partition/tests/testNestedDissection.cpp
index 11252f3bd..da896e33d 100644
--- a/gtsam_unstable/partition/tests/testNestedDissection.cpp
+++ b/gtsam_unstable/partition/tests/testNestedDissection.cpp
@@ -6,7 +6,6 @@
  *  Description: unit tests for NestedDissection
  */
 
-#include <boost/make_shared.hpp>
 #include <CppUnitLite/TestHarness.h>
 
 #include "SubmapPlanarSLAM.h"
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index 9169c86fb..c05bd1fd0 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -30,7 +30,6 @@
 #include <gtsam/slam/dataset.h>
 #include <gtsam_unstable/dllexport.h>
 
-#include <boost/make_shared.hpp>
 #include <boost/serialization/optional.hpp>
 #include <optional>
 #include <vector>