update CppUnitLite to not rely on boost

CppUnitLite/Test.cpp

@@ -15,8 +15,6 @@
 #include "TestResult.h"
 #include "Failure.h"
 
-#include <string>
-
 Test::Test (const std::string& testName)
   : name_ (testName), next_(0), lineNumber_(-1), safeCheck_(true)
 {

CppUnitLite/Test.h

@@ -144,7 +144,7 @@ std::to_string(actualTemp))); return; } }
   double expectedTemp = expected; \
   if (!std::isfinite(actualTemp) || !std::isfinite(expectedTemp) || fabs ((expectedTemp)-(actualTemp)) > threshold) \
 { result_.addFailure (Failure (name_, __FILE__, __LINE__, \
-std::to_string(expectedTemp), std::to_string(actualTemp))); return; } }
+std::to_string((double)expectedTemp), std::to_string((double)actualTemp))); return; } }
 
 
 /* EXPECTs: tests will continue running after a failure */
@@ -164,7 +164,7 @@ std::to_string(actualTemp))); } }
   double expectedTemp = expected; \
   if (!std::isfinite(actualTemp) || !std::isfinite(expectedTemp) || fabs ((expectedTemp)-(actualTemp)) > threshold) \
 { result_.addFailure (Failure (name_, __FILE__, __LINE__, \
-std::to_string(expectedTemp), std::to_string(actualTemp))); } }
+std::to_string((double)expectedTemp), std::to_string((double)actualTemp))); } }
 
 
 #define FAIL(text) \

cmake/example_cmake_find_gtsam/CMakeLists.txt

@@ -12,6 +12,6 @@ add_executable(example
 )
 
 # By using CMake exported targets, a simple "link" dependency introduces the
-# include directories (-I) flags, links against Boost, and add any other
+# include directories (-I) flags, and add any other
 # required build flags (e.g. C++11, etc.)
 target_link_libraries(example PRIVATE gtsam)

cmake/obsolete/GtsamTestingObsolete.cmake

@@ -2,7 +2,7 @@
 # Macro for adding categorized tests in a "tests" folder, with
 # optional exclusion of tests and convenience library linking options
 #
-# By default, all tests are linked with CppUnitLite and boost
+# By default, all tests are linked with CppUnitLite
 # Arguments:
 #   - subdir    The name of the category for this test
 #   - local_libs  A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
@@ -32,7 +32,6 @@ endfunction()
 # Macro for adding categorized timing scripts in a "tests" folder, with
 # optional exclusion of tests and convenience library linking options
 #
-# By default, all tests are linked with boost
 # Arguments:
 #   - subdir    The name of the category for this timing script
 #   - local_libs  A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
@@ -51,8 +50,7 @@ macro(gtsam_add_subdir_timing subdir local_libs full_libs excluded_srcs)
 endmacro()
 
 # Macro for adding executables matching a pattern - builds one executable for
-# each file matching the pattern.  These exectuables are automatically linked
+# each file matching the pattern.
-# with boost.
 # Arguments:
 #   - pattern    The glob pattern to match source files
 #   - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
@@ -138,9 +136,9 @@ macro(gtsam_add_grouped_scripts group pattern target_prefix pretty_prefix_name l
 
 				# Linking and dependendencies
 				if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
-					target_link_libraries(${script_bin} ${local_libs} ${GTSAM_BOOST_LIBRARIES})
+					target_link_libraries(${script_bin} ${local_libs})
 				else()
-					target_link_libraries(${script_bin} ${full_libs} ${GTSAM_BOOST_LIBRARIES})
+					target_link_libraries(${script_bin} ${full_libs})
 				endif()
 
 				# Add .run target

gtsam/slam/tests/testLago.cpp

@@ -71,17 +71,17 @@ TEST(Lago, findMinimumSpanningTree) {
   auto gPlus = initialize::buildPoseGraph<Pose2>(g);
   lago::PredecessorMap tree = lago::findMinimumSpanningTree(gPlus);
 
-  // We should recover the following spanning tree:
+  /* We should recover the following spanning tree:
-  //
+                x2
-  //              x2
+               /  \
-  //             /  \
+              /    \
-  //            /    \
+            x3     x1
-  //          x3     x1
+                   /
-  //                 /
+                  /
-  //                /
+                x0
-  //              x0
+                 |
-  //               |
+                 a
-  //               a
+  */
   using initialize::kAnchorKey;
   EXPECT_LONGS_EQUAL(kAnchorKey, tree[kAnchorKey]);
   EXPECT_LONGS_EQUAL(kAnchorKey, tree[x0]);