From 9b5321ce034d06c486e312790774492e57f68ac8 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 7 Jan 2023 23:58:35 -0800
Subject: [PATCH] Remove unused boost::assign headers

---
 examples/CreateSFMExampleData.cpp                             | 3 ---
 examples/TimeTBB.cpp                                          | 2 --
 gtsam_unstable/discrete/Constraint.h                          | 1 -
 gtsam_unstable/partition/tests/testNestedDissection.cpp       | 4 ----
 gtsam_unstable/slam/DummyFactor.cpp                           | 4 ----
 gtsam_unstable/slam/tests/testSerialization.cpp               | 2 --
 .../tests/testSmartProjectionPoseFactorRollingShutter.cpp     | 2 --
 gtsam_unstable/timing/timeDSFvariants.cpp                     | 2 --
 tests/testDoglegOptimizer.cpp                                 | 1 -
 tests/testGaussianISAM.cpp                                    | 2 --
 tests/testManifold.cpp                                        | 4 ----
 tests/testNonlinearFactorGraph.cpp                            | 4 ----
 tests/testNonlinearOptimizer.cpp                              | 2 --
 tests/testPCGSolver.cpp                                       | 2 --
 tests/testSubgraphSolver.cpp                                  | 3 ---
 timing/timeGaussianFactor.cpp                                 | 4 +---
 timing/timeGaussianFactorGraph.cpp                            | 2 --
 timing/timeSchurFactors.cpp                                   | 3 ---
 18 files changed, 1 insertion(+), 46 deletions(-)

diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp
index 97f4c84dc..cf7755bae 100644
--- a/examples/CreateSFMExampleData.cpp
+++ b/examples/CreateSFMExampleData.cpp
@@ -18,9 +18,6 @@
 #include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/slam/dataset.h>
 
-#include <boost/assign/std/vector.hpp>
-
-using namespace boost::assign;
 using namespace std;
 using namespace gtsam;
 
diff --git a/examples/TimeTBB.cpp b/examples/TimeTBB.cpp
index 4bc5144f4..acaf3f304 100644
--- a/examples/TimeTBB.cpp
+++ b/examples/TimeTBB.cpp
@@ -18,13 +18,11 @@
 #include <gtsam/global_includes.h>
 #include <gtsam/base/Matrix.h>
 
-#include <boost/assign/list_of.hpp>
 #include <map>
 #include <iostream>
 
 using namespace std;
 using namespace gtsam;
-using boost::assign::list_of;
 
 #ifdef GTSAM_USE_TBB
 
diff --git a/gtsam_unstable/discrete/Constraint.h b/gtsam_unstable/discrete/Constraint.h
index d0695002d..691c659fc 100644
--- a/gtsam_unstable/discrete/Constraint.h
+++ b/gtsam_unstable/discrete/Constraint.h
@@ -21,7 +21,6 @@
 #include <gtsam/discrete/DiscreteValues.h>
 #include <gtsam_unstable/dllexport.h>
 
-#include <boost/assign.hpp>
 #include <boost/format.hpp>
 #include <map>
 
diff --git a/gtsam_unstable/partition/tests/testNestedDissection.cpp b/gtsam_unstable/partition/tests/testNestedDissection.cpp
index acaa5557e..36ce647c3 100644
--- a/gtsam_unstable/partition/tests/testNestedDissection.cpp
+++ b/gtsam_unstable/partition/tests/testNestedDissection.cpp
@@ -6,10 +6,6 @@
  *  Description: unit tests for NestedDissection
  */
 
-#include <boost/assign/std/list.hpp> // for operator +=
-#include <boost/assign/std/set.hpp> // for operator +=
-#include <boost/assign/std/vector.hpp> // for operator +=
-using namespace boost::assign;
 #include <boost/make_shared.hpp>
 #include <CppUnitLite/TestHarness.h>
 
diff --git a/gtsam_unstable/slam/DummyFactor.cpp b/gtsam_unstable/slam/DummyFactor.cpp
index d2da5977b..f1897cf85 100644
--- a/gtsam_unstable/slam/DummyFactor.cpp
+++ b/gtsam_unstable/slam/DummyFactor.cpp
@@ -7,10 +7,6 @@
 
 #include <gtsam_unstable/slam/DummyFactor.h>
 
-#include <boost/assign/list_of.hpp>
-
-using namespace boost::assign;
-
 namespace gtsam {
 
 /* ************************************************************************* */
diff --git a/gtsam_unstable/slam/tests/testSerialization.cpp b/gtsam_unstable/slam/tests/testSerialization.cpp
index 362cf3778..5244710e8 100644
--- a/gtsam_unstable/slam/tests/testSerialization.cpp
+++ b/gtsam_unstable/slam/tests/testSerialization.cpp
@@ -17,7 +17,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/assign/std/vector.hpp>
 #include <boost/filesystem.hpp>
 
 #include <iostream>
@@ -27,7 +26,6 @@
 
 using namespace std;
 using namespace gtsam;
-using namespace boost::assign;
 namespace fs = boost::filesystem;
 #ifdef TOPSRCDIR
 static string topdir = TOPSRCDIR;
diff --git a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
index b88a27c6c..cad1feae1 100644
--- a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
+++ b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
@@ -25,14 +25,12 @@
 #include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
 #include <gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h>
 
-#include <boost/assign/std/map.hpp>
 #include <iostream>
 
 #include "gtsam/slam/tests/smartFactorScenarios.h"
 #define DISABLE_TIMING
 
 using namespace gtsam;
-using namespace boost::assign;
 using namespace std::placeholders;
 
 static const double rankTol = 1.0;
diff --git a/gtsam_unstable/timing/timeDSFvariants.cpp b/gtsam_unstable/timing/timeDSFvariants.cpp
index a7b9136f8..3da01bfaf 100644
--- a/gtsam_unstable/timing/timeDSFvariants.cpp
+++ b/gtsam_unstable/timing/timeDSFvariants.cpp
@@ -22,7 +22,6 @@
 #include <gtsam/base/DSFMap.h>
 
 #include <boost/format.hpp>
-#include <boost/assign/std/vector.hpp>
 
 #include <fstream>
 #include <iostream>
@@ -32,7 +31,6 @@
 
 using namespace std;
 using namespace gtsam;
-using namespace boost::assign;
 using boost::format;
 
 int main(int argc, char* argv[]) {
diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp
index ec41bf678..e9ae2454b 100644
--- a/tests/testDoglegOptimizer.cpp
+++ b/tests/testDoglegOptimizer.cpp
@@ -29,7 +29,6 @@
 #include <gtsam/linear/GaussianBayesTree.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/assign/list_of.hpp> // for 'list_of()'
 #include <functional>
 #include <boost/iterator/counting_iterator.hpp>
 
diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp
index 309f0e1e0..1c1ce90d5 100644
--- a/tests/testGaussianISAM.cpp
+++ b/tests/testGaussianISAM.cpp
@@ -22,8 +22,6 @@
 #include <gtsam/linear/GaussianISAM.h>
 #include <gtsam/inference/Ordering.h>
 
-#include <boost/assign/std/list.hpp> // for operator +=
-using namespace boost::assign;
 #include <boost/range/adaptor/map.hpp>
 namespace br { using namespace boost::adaptors; using namespace boost::range; }
 
diff --git a/tests/testManifold.cpp b/tests/testManifold.cpp
index a05c4b621..7d788d109 100644
--- a/tests/testManifold.cpp
+++ b/tests/testManifold.cpp
@@ -29,10 +29,6 @@
 #undef CHECK
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/assign/list_of.hpp>
-using boost::assign::list_of;
-using boost::assign::map_list_of;
-
 using namespace std;
 using namespace gtsam;
 
diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp
index e1a88d616..136cd064f 100644
--- a/tests/testNonlinearFactorGraph.cpp
+++ b/tests/testNonlinearFactorGraph.cpp
@@ -32,10 +32,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/assign/std/list.hpp>
-#include <boost/assign/std/set.hpp>
-using namespace boost::assign;
-
 /*STL/C++*/
 #include <iostream>
 
diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp
index 295721cc4..cc82892f7 100644
--- a/tests/testNonlinearOptimizer.cpp
+++ b/tests/testNonlinearOptimizer.cpp
@@ -33,8 +33,6 @@
 
 #include <boost/range/adaptor/map.hpp>
 #include <boost/shared_ptr.hpp>
-#include <boost/assign/std/list.hpp> // for operator +=
-using namespace boost::assign;
 using boost::adaptors::map_values;
 
 #include <iostream>
diff --git a/tests/testPCGSolver.cpp b/tests/testPCGSolver.cpp
index 9d6cc49ac..558f7c1e4 100644
--- a/tests/testPCGSolver.cpp
+++ b/tests/testPCGSolver.cpp
@@ -27,8 +27,6 @@
 #include <CppUnitLite/TestHarness.h>
 
 #include <boost/shared_ptr.hpp>
-#include <boost/assign/std/list.hpp> // for operator +=
-using namespace boost::assign;
 
 #include <iostream>
 #include <fstream>
diff --git a/tests/testSubgraphSolver.cpp b/tests/testSubgraphSolver.cpp
index 5d8d88775..69b5fe5f9 100644
--- a/tests/testSubgraphSolver.cpp
+++ b/tests/testSubgraphSolver.cpp
@@ -28,9 +28,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/assign/std/list.hpp>
-using namespace boost::assign;
-
 using namespace std;
 using namespace gtsam;
 
diff --git a/timing/timeGaussianFactor.cpp b/timing/timeGaussianFactor.cpp
index 3aecac3c1..feb738439 100644
--- a/timing/timeGaussianFactor.cpp
+++ b/timing/timeGaussianFactor.cpp
@@ -22,7 +22,6 @@
 using namespace std;
 
 #include <boost/tuple/tuple.hpp>
-#include <boost/assign/list_of.hpp>
 
 #include <gtsam/base/Matrix.h>
 #include <gtsam/linear/JacobianFactor.h>
@@ -31,7 +30,6 @@ using namespace std;
 #include <gtsam/linear/NoiseModel.h>
 
 using namespace gtsam;
-using namespace boost::assign;
 
 static const Key _x1_=1, _x2_=2, _l1_=3;
 
@@ -109,7 +107,7 @@ int main()
 
   for(int i = 0; i < n; i++)
     boost::tie(conditional, factor) =
-        JacobianFactor(combined).eliminate(Ordering(boost::assign::list_of(_x2_)));
+        JacobianFactor(combined).eliminate(Ordering{_x2_});
 
   long timeLog2 = clock();
   double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
diff --git a/timing/timeGaussianFactorGraph.cpp b/timing/timeGaussianFactorGraph.cpp
index 2c1e11586..574579f84 100644
--- a/timing/timeGaussianFactorGraph.cpp
+++ b/timing/timeGaussianFactorGraph.cpp
@@ -16,14 +16,12 @@
  */
 
 #include <time.h>
-#include <boost/assign/std/list.hpp> // for operator += in Ordering
 #include <CppUnitLite/TestHarness.h>
 #include <tests/smallExample.h>
 
 using namespace std;
 using namespace gtsam;
 using namespace example;
-using namespace boost::assign;
 
 /* ************************************************************************* */
 // Create a Kalman smoother for t=1:T and optimize
diff --git a/timing/timeSchurFactors.cpp b/timing/timeSchurFactors.cpp
index 9e057f830..370486c5f 100644
--- a/timing/timeSchurFactors.cpp
+++ b/timing/timeSchurFactors.cpp
@@ -14,12 +14,9 @@
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/PinholePose.h>
 
-#include <boost/assign/list_of.hpp>
-#include <boost/assign/std/vector.hpp>
 #include <fstream>
 
 using namespace std;
-using namespace boost::assign;
 using namespace gtsam;
 
 #define SLOW