From a807127b512e41704712bdca53922a3bf2224309 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 11 May 2023 13:17:17 -0400
Subject: [PATCH] update GncOptimizer and make it available

---
 gtsam/CMakeLists.txt           | 1 -
 gtsam/nonlinear/GncOptimizer.h | 5 ++---
 tests/CMakeLists.txt           | 1 -
 3 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index efd0e9dc2..40028ad00 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -59,7 +59,6 @@ endif()
 # if GTSAM_USE_BOOST_FEATURES is not set, then we need to exclude the following:
 if(NOT GTSAM_USE_BOOST_FEATURES)
     list (APPEND excluded_sources
-        "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/GncOptimizer.h"
         "${CMAKE_CURRENT_SOURCE_DIR}/inference/graph.h"
         "${CMAKE_CURRENT_SOURCE_DIR}/inference/graph-inl.h"
     )
diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index d59eb4371..414bee5eb 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -26,9 +26,9 @@
 
 #pragma once
 
+#include <gtsam/nonlinear/GncHelpers.h>
 #include <gtsam/nonlinear/GncParams.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <boost/math/distributions/chi_squared.hpp>
 
 namespace gtsam {
 /*
@@ -36,8 +36,7 @@ namespace gtsam {
  * Equivalent to chi2inv in Matlab.
  */
 static double Chi2inv(const double alpha, const size_t dofs) {
-  boost::math::chi_squared_distribution<double> chi2(dofs);
-  return boost::math::quantile(chi2, alpha);
+  return chi_squared_quantile(dofs, alpha);
 }
 
 /* ************************************************************************* */
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index d7b68c4ec..66812d6bb 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -8,7 +8,6 @@ if (${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang") # might not be best test - Richar
 endif()
 
 if (NOT GTSAM_USE_BOOST_FEATURES)
-	list(APPEND excluded_tests "testGncOptimizer.cpp")
 	list(APPEND excluded_tests "testGraph.cpp")
 endif()