Replaced BOOSE_FOREACH with for in examples folder. Tested the changed code locally: successful.

examples/Pose3SLAMExample_changeKeys.cpp

@@ -56,7 +56,7 @@ int main(const int argc, const char *argv[]) {
     std::cout << "Rewriting input to file: " << inputFileRewritten << std::endl;
     // Additional: rewrite input with simplified keys 0,1,...
     Values simpleInitial;
-    BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
+    for(const Values::ConstKeyValuePair& key_value: *initial) {
       Key key;
       if(add)
         key = key_value.key + firstKey;
@@ -66,7 +66,7 @@ int main(const int argc, const char *argv[]) {
       simpleInitial.insert(key, initial->at(key_value.key));
     }
     NonlinearFactorGraph simpleGraph;
-    BOOST_FOREACH(const boost::shared_ptr<NonlinearFactor>& factor, *graph) {
+    for(const boost::shared_ptr<NonlinearFactor>& factor: *graph) {
       boost::shared_ptr<BetweenFactor<Pose3> > pose3Between =
           boost::dynamic_pointer_cast<BetweenFactor<Pose3> >(factor);
       if (pose3Between){

examples/Pose3SLAMExample_g2o.cpp

@@ -45,7 +45,7 @@ int main(const int argc, const char *argv[]) {
   noiseModel::Diagonal::shared_ptr priorModel = //
       noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
   Key firstKey = 0;
-  BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
+  for(const Values::ConstKeyValuePair& key_value: *initial) {
     std::cout << "Adding prior to g2o file " << std::endl;
     firstKey = key_value.key;
     graphWithPrior.add(PriorFactor<Pose3>(firstKey, Pose3(), priorModel));

examples/Pose3SLAMExample_initializePose3Chordal.cpp

@@ -45,7 +45,7 @@ int main(const int argc, const char *argv[]) {
   noiseModel::Diagonal::shared_ptr priorModel = //
       noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
   Key firstKey = 0;
-  BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
+  for(const Values::ConstKeyValuePair& key_value: *initial) {
     std::cout << "Adding prior to g2o file " << std::endl;
     firstKey = key_value.key;
     graphWithPrior.add(PriorFactor<Pose3>(firstKey, Pose3(), priorModel));

examples/Pose3SLAMExample_initializePose3Gradient.cpp

@@ -45,7 +45,7 @@ int main(const int argc, const char *argv[]) {
   noiseModel::Diagonal::shared_ptr priorModel = //
       noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
   Key firstKey = 0;
-  BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
+  for(const Values::ConstKeyValuePair& key_value: *initial) {
     std::cout << "Adding prior to g2o file " << std::endl;
     firstKey = key_value.key;
     graphWithPrior.add(PriorFactor<Pose3>(firstKey, Pose3(), priorModel));

examples/RangeISAMExample_plaza2.cpp

@@ -151,7 +151,7 @@ int main (int argc, char** argv) {
 
   // Loop over odometry
   gttic_(iSAM);
-  BOOST_FOREACH(const TimedOdometry& timedOdometry, odometry) {
+  for(const TimedOdometry& timedOdometry: odometry) {
     //--------------------------------- odometry loop -----------------------------------------
     double t;
     Pose2 odometry;
@@ -196,7 +196,7 @@ int main (int argc, char** argv) {
     }
     i += 1;
     //--------------------------------- odometry loop -----------------------------------------
-  } // BOOST_FOREACH
+  } // end for
   gttoc_(iSAM);
 
   // Print timings

examples/SolverComparer.cpp

@@ -80,7 +80,7 @@ double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& c
   // the factor graph already includes a factor for the prior/equality constraint.
   //  double dof = graph.size() - config.size();
   int graph_dim = 0;
-  BOOST_FOREACH(const boost::shared_ptr<gtsam::NonlinearFactor>& nlf, graph) {
+  for(const boost::shared_ptr<gtsam::NonlinearFactor>& nlf: graph) {
     graph_dim += (int)nlf->dim();
   }
   double dof = double(graph_dim) - double(config.dim()); // kaess: changed to dim
@@ -442,7 +442,7 @@ void runIncremental()
   //      break;
   //  }
   //  tictoc_print_();
-  //  BOOST_FOREACH(Key key, values.keys()) {
+  //  for(Key key: values.keys()) {
   //    gttic_(marginalInformation);
   //    Matrix info = marginals.marginalInformation(key);
   //    gttoc_(marginalInformation);
@@ -535,7 +535,7 @@ void runCompare()
   vector<Key> commonKeys;
   br::set_intersection(soln1.keys(), soln2.keys(), std::back_inserter(commonKeys));
   double maxDiff = 0.0;
-  BOOST_FOREACH(Key j, commonKeys)
+  for(Key j: commonKeys)
     maxDiff = std::max(maxDiff, soln1.at(j).localCoordinates_(soln2.at(j)).norm());
   cout << "  Maximum solution difference (norm of logmap): " << maxDiff << endl;
 }
@@ -549,7 +549,7 @@ void runPerturb()
 
   // Perturb values
   VectorValues noise;
-  BOOST_FOREACH(const Values::KeyValuePair& key_val, initial)
+  for(const Values::KeyValuePair& key_val: initial)
   {
     Vector noisev(key_val.value.dim());
     for(Vector::Index i = 0; i < noisev.size(); ++i)

examples/TimeTBB.cpp

@@ -76,7 +76,7 @@ map<int, double> testWithoutMemoryAllocation()
 
   const vector<size_t> grainSizes = list_of(1)(10)(100)(1000);
   map<int, double> timingResults;
-  BOOST_FOREACH(size_t grainSize, grainSizes)
+  for(size_t grainSize: grainSizes)
   {
     tbb::tick_count t0 = tbb::tick_count::now();
     tbb::parallel_for(tbb::blocked_range<size_t>(0, numberOfProblems), WorkerWithoutAllocation(results));
@@ -129,7 +129,7 @@ map<int, double> testWithMemoryAllocation()
 
   const vector<size_t> grainSizes = list_of(1)(10)(100)(1000);
   map<int, double> timingResults;
-  BOOST_FOREACH(size_t grainSize, grainSizes)
+  for(size_t grainSize: grainSizes)
   {
     tbb::tick_count t0 = tbb::tick_count::now();
     tbb::parallel_for(tbb::blocked_range<size_t>(0, numberOfProblems), WorkerWithAllocation(results));
@@ -150,7 +150,7 @@ int main(int argc, char* argv[])
   const vector<int> numThreads = list_of(1)(4)(8);
   Results results;
 
-  BOOST_FOREACH(size_t n, numThreads)
+  for(size_t n: numThreads)
   {
     cout << "With " << n << " threads:" << endl;
     tbb::task_scheduler_init init((int)n);
@@ -160,19 +160,19 @@ int main(int argc, char* argv[])
   }
 
   cout << "Summary of results:" << endl;
-  BOOST_FOREACH(const Results::value_type& threads_result, results)
+  for(const Results::value_type& threads_result: results)
   {
     const int threads = threads_result.first;
     const ResultWithThreads& result = threads_result.second;
     if(threads != 1)
     {
-      BOOST_FOREACH(const ResultWithThreads::value_type& grainsize_time, result.grainSizesWithoutAllocation)
+      for(const ResultWithThreads::value_type& grainsize_time: result.grainSizesWithoutAllocation)
       {
         const int grainsize = grainsize_time.first;
         const double speedup = results[1].grainSizesWithoutAllocation[grainsize] / grainsize_time.second;
         cout << threads << " threads, without allocation, grain size = " << grainsize << ", speedup = " << speedup << endl;
       }
-      BOOST_FOREACH(const ResultWithThreads::value_type& grainsize_time, result.grainSizesWithAllocation)
+      for(const ResultWithThreads::value_type& grainsize_time: result.grainSizesWithAllocation)
       {
         const int grainsize = grainsize_time.first;
         const double speedup = results[1].grainSizesWithAllocation[grainsize] / grainsize_time.second;