From ab3e3773ec0ecae3905655d11c1eb82302ceeb57 Mon Sep 17 00:00:00 2001
From: Adam Rutkowski <arutkowski@users.noreply.github.com>
Date: Wed, 21 Jun 2023 13:25:36 -0500
Subject: [PATCH] removed boost from TableFactor and added guards to
 testSerializationSlam

---
 gtsam/discrete/TableFactor.cpp  | 3 +--
 tests/testSerializationSlam.cpp | 4 ++++
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index acb59a8be..5fe3cd9d1 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -21,7 +21,6 @@
 #include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/HybridValues.h>
 
-#include <boost/format.hpp>
 #include <utility>
 
 using namespace std;
@@ -203,7 +202,7 @@ void TableFactor::print(const string& s, const KeyFormatter& formatter) const {
   cout << s;
   cout << " f[";
   for (auto&& key : keys())
-    cout << boost::format(" (%1%,%2%),") % formatter(key) % cardinality(key);
+    cout << " (" << formatter(key) << "," << cardinality(key) << "),";
   cout << " ]" << endl;
   for (SparseIt it(sparse_table_); it; ++it) {
     DiscreteValues assignment = findAssignments(it.index());
diff --git a/tests/testSerializationSlam.cpp b/tests/testSerializationSlam.cpp
index c4170b108..6b504a810 100644
--- a/tests/testSerializationSlam.cpp
+++ b/tests/testSerializationSlam.cpp
@@ -52,6 +52,8 @@
 #include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/base/std_optional_serialization.h>
 
+#ifdef GTSAM_USE_BOOST_FEATURES
+
 #include <boost/archive/xml_iarchive.hpp>
 #include <boost/serialization/export.hpp>
 
@@ -674,6 +676,8 @@ TEST(SubgraphSolver, Solves) {
   }
 }
 
+#endif
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */