From c1b5c192f84866eebd7a66945accd9ce3ee77dce Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 5 Feb 2023 20:34:25 -0800
Subject: [PATCH] Kill more boost headers

---
 gtsam/geometry/BearingRange.h                       | 1 -
 gtsam/geometry/Rot3.cpp                             | 1 -
 gtsam/geometry/Rot3M.cpp                            | 1 -
 gtsam/geometry/Rot3Q.cpp                            | 1 -
 gtsam/inference/Conditional.h                       | 2 --
 gtsam/inference/inferenceExceptions.h               | 1 -
 gtsam/nonlinear/NonlinearOptimizer.cpp              | 2 --
 gtsam/nonlinear/nonlinearExceptions.h               | 1 -
 gtsam/sam/BearingRangeFactor.h                      | 1 -
 gtsam/slam/InitializePose3.h                        | 1 -
 gtsam_unstable/examples/ConcurrentCalibration.cpp   | 1 -
 gtsam_unstable/examples/GncPoseAveragingExample.cpp | 1 -
 gtsam_unstable/geometry/Pose3Upright.cpp            | 1 -
 gtsam_unstable/partition/GenericGraph.cpp           | 5 ++---
 tests/testDoglegOptimizer.cpp                       | 1 -
 tests/testRot3Optimization.cpp                      | 1 -
 tests/testSimulated3D.cpp                           | 1 -
 17 files changed, 2 insertions(+), 21 deletions(-)

diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index 7e6210914..19194bb7a 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -21,7 +21,6 @@
 #include <gtsam/base/Manifold.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/OptionalJacobian.h>
-#include <boost/concept/assert.hpp>
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #endif
diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
index 153b9690e..a936bd02a 100644
--- a/gtsam/geometry/Rot3.cpp
+++ b/gtsam/geometry/Rot3.cpp
@@ -21,7 +21,6 @@
 
 #include <gtsam/geometry/Rot3.h>
 #include <gtsam/geometry/SO3.h>
-#include <boost/math/constants/constants.hpp>
 
 #include <cmath>
 #include <random>
diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index 07cc7302a..45e04dab6 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -24,7 +24,6 @@
 
 #include <gtsam/geometry/Rot3.h>
 #include <gtsam/geometry/SO3.h>
-#include <boost/math/constants/constants.hpp>
 #include <cmath>
 
 using namespace std;
diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp
index 523255d87..3e50551d5 100644
--- a/gtsam/geometry/Rot3Q.cpp
+++ b/gtsam/geometry/Rot3Q.cpp
@@ -20,7 +20,6 @@
 #ifdef GTSAM_USE_QUATERNIONS
 
 #include <gtsam/geometry/Rot3.h>
-#include <boost/math/constants/constants.hpp>
 #include <cmath>
 
 using namespace std;
diff --git a/gtsam/inference/Conditional.h b/gtsam/inference/Conditional.h
index a45e3df23..0ab8b49a4 100644
--- a/gtsam/inference/Conditional.h
+++ b/gtsam/inference/Conditional.h
@@ -18,8 +18,6 @@
 // \callgraph
 #pragma once
 
-#include <boost/range.hpp>
-
 #include <gtsam/inference/Key.h>
 
 namespace gtsam {
diff --git a/gtsam/inference/inferenceExceptions.h b/gtsam/inference/inferenceExceptions.h
index bcd986983..fa3e3cb25 100644
--- a/gtsam/inference/inferenceExceptions.h
+++ b/gtsam/inference/inferenceExceptions.h
@@ -18,7 +18,6 @@
 #pragma once
 
 #include <gtsam/global_includes.h>
-#include <boost/lexical_cast.hpp>
 #include <exception>
 
 namespace gtsam {
diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp
index 8aa611976..7ca5ead95 100644
--- a/gtsam/nonlinear/NonlinearOptimizer.cpp
+++ b/gtsam/nonlinear/NonlinearOptimizer.cpp
@@ -27,8 +27,6 @@
 
 #include <gtsam/inference/Ordering.h>
 
-#include <boost/algorithm/string.hpp>
-
 #include <stdexcept>
 #include <iostream>
 #include <iomanip>
diff --git a/gtsam/nonlinear/nonlinearExceptions.h b/gtsam/nonlinear/nonlinearExceptions.h
index 7b704ac39..e36b72fb7 100644
--- a/gtsam/nonlinear/nonlinearExceptions.h
+++ b/gtsam/nonlinear/nonlinearExceptions.h
@@ -17,7 +17,6 @@
  */
 #pragma once
 
-#include <boost/lexical_cast.hpp>
 #include <exception>
 
 #include <gtsam/inference/Key.h>
diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h
index a1e6251b5..d5467be47 100644
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@@ -21,7 +21,6 @@
 
 #include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/geometry/BearingRange.h>
-#include <boost/concept/assert.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/slam/InitializePose3.h b/gtsam/slam/InitializePose3.h
index bf86ab6f2..3f69217dc 100644
--- a/gtsam/slam/InitializePose3.h
+++ b/gtsam/slam/InitializePose3.h
@@ -21,7 +21,6 @@
 #pragma once
 
 #include <gtsam/geometry/Rot3.h>
-#include <gtsam/inference/graph.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/VectorValues.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/gtsam_unstable/examples/ConcurrentCalibration.cpp b/gtsam_unstable/examples/ConcurrentCalibration.cpp
index 75dc49eee..cccde076a 100644
--- a/gtsam_unstable/examples/ConcurrentCalibration.cpp
+++ b/gtsam_unstable/examples/ConcurrentCalibration.cpp
@@ -32,7 +32,6 @@
 #include <string>
 #include <fstream>
 #include <iostream>
-#include <boost/lexical_cast.hpp>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam_unstable/examples/GncPoseAveragingExample.cpp b/gtsam_unstable/examples/GncPoseAveragingExample.cpp
index 730d342f0..183de81fc 100644
--- a/gtsam_unstable/examples/GncPoseAveragingExample.cpp
+++ b/gtsam_unstable/examples/GncPoseAveragingExample.cpp
@@ -27,7 +27,6 @@
 #include <fstream>
 #include <iostream>
 #include <random>
-#include <boost/lexical_cast.hpp>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam_unstable/geometry/Pose3Upright.cpp b/gtsam_unstable/geometry/Pose3Upright.cpp
index 9bc8efd54..9cd9f78f5 100644
--- a/gtsam_unstable/geometry/Pose3Upright.cpp
+++ b/gtsam_unstable/geometry/Pose3Upright.cpp
@@ -5,7 +5,6 @@
  * @author Alex Cunningham
  */
 
-#include <boost/mpl/assert.hpp>
 #include <iostream>
 #include "gtsam/base/OptionalJacobian.h"
 #include "gtsam/base/Vector.h"
diff --git a/gtsam_unstable/partition/GenericGraph.cpp b/gtsam_unstable/partition/GenericGraph.cpp
index 5f32ab557..d845c9a84 100644
--- a/gtsam_unstable/partition/GenericGraph.cpp
+++ b/gtsam_unstable/partition/GenericGraph.cpp
@@ -6,7 +6,6 @@
  *  Description: generic graph types used in partitioning
  */
 #include <iostream>
-#include <boost/lexical_cast.hpp>
 
 #include <gtsam/base/DSFVector.h>
 
@@ -464,9 +463,9 @@ namespace gtsam { namespace partition {
     }
 
      if (minFoundConstraintsPerCamera < minNrConstraintsPerCamera)
-      throw runtime_error("checkSingularity:minConstraintsPerCamera < " + boost::lexical_cast<string>(minFoundConstraintsPerCamera));
+      throw runtime_error("checkSingularity:minConstraintsPerCamera < " + std::to_string(minFoundConstraintsPerCamera));
     if (minFoundConstraintsPerLandmark < minNrConstraintsPerLandmark)
-      throw runtime_error("checkSingularity:minConstraintsPerLandmark < " + boost::lexical_cast<string>(minFoundConstraintsPerLandmark));
+      throw runtime_error("checkSingularity:minConstraintsPerLandmark < " + std::to_string(minFoundConstraintsPerLandmark));
   }
 
 }} // namespace
diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp
index 61276e89b..a64e6f3b0 100644
--- a/tests/testDoglegOptimizer.cpp
+++ b/tests/testDoglegOptimizer.cpp
@@ -30,7 +30,6 @@
 #include <gtsam/base/numericalDerivative.h>
 
 #include <functional>
-#include <boost/iterator/counting_iterator.hpp>
 
 using namespace std;
 using namespace gtsam;
diff --git a/tests/testRot3Optimization.cpp b/tests/testRot3Optimization.cpp
index 5746022a3..53c4e16de 100644
--- a/tests/testRot3Optimization.cpp
+++ b/tests/testRot3Optimization.cpp
@@ -17,7 +17,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
-#include <boost/math/constants/constants.hpp>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/lieProxies.h>
 #include <gtsam/geometry/Point3.h>
diff --git a/tests/testSimulated3D.cpp b/tests/testSimulated3D.cpp
index cfe00856a..9bc67c115 100644
--- a/tests/testSimulated3D.cpp
+++ b/tests/testSimulated3D.cpp
@@ -21,7 +21,6 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
 #include <CppUnitLite/TestHarness.h>
 
 #include <iostream>