Workaround for conflict between boost variant and graph in boost < 1.47

gtsam/base/boost_variant_with_workaround.h

@@ -0,0 +1,95 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    boost_variant_with_workaround.h
+ * @brief   Includes boost/variant.hpp with a workaround for a variant/boost graph conflict, by defining the variant 'get' function in a new variant_workaround namespace.
+ * @author  Richard Roberts
+ */
+
+#pragma once
+
+#include <boost/variant.hpp>
+#include <boost/version.hpp>
+
+namespace variant_workaround {
+
+  /* ************************************************************************* */
+  // The following functions are pasted from boost/variant/get.hpp, but with
+  // explicit argument types to avoid a conflict with 'get' in the boost graph
+  // library that exists in boost < 1.47.
+#if BOOST_VERSION >= 104700
+  using boost::get;
+#else
+  template <typename U, BOOST_VARIANT_ENUM_PARAMS(typename T) >
+  inline
+  typename boost::add_pointer<U>::type
+  get(
+      boost::variant< BOOST_VARIANT_ENUM_PARAMS(T) >* operand
+      BOOST_VARIANT_AUX_GET_EXPLICIT_TEMPLATE_TYPE(U)
+  )
+  {
+    typedef typename boost::add_pointer<U>::type U_ptr;
+    if (!operand) return static_cast<U_ptr>(0);
+
+    boost::detail::variant::get_visitor<U> v;
+    return operand->apply_visitor(v);
+  }
+
+  template <typename U, BOOST_VARIANT_ENUM_PARAMS(typename T) >
+  inline
+  typename boost::add_pointer<const U>::type
+  get(
+      const boost::variant< BOOST_VARIANT_ENUM_PARAMS(T) >* operand
+      BOOST_VARIANT_AUX_GET_EXPLICIT_TEMPLATE_TYPE(U)
+  )
+  {
+    typedef typename boost::add_pointer<const U>::type U_ptr;
+    if (!operand) return static_cast<U_ptr>(0);
+
+    boost::detail::variant::get_visitor<const U> v;
+    return operand->apply_visitor(v);
+  }
+
+  template <typename U, BOOST_VARIANT_ENUM_PARAMS(typename T) >
+  inline
+  typename boost::add_reference<U>::type
+  get(
+      boost::variant< BOOST_VARIANT_ENUM_PARAMS(T) >& operand
+      BOOST_VARIANT_AUX_GET_EXPLICIT_TEMPLATE_TYPE(U)
+  )
+  {
+    typedef typename boost::add_pointer<U>::type U_ptr;
+    U_ptr result = variant_workaround::get<U>(&operand);
+
+    if (!result)
+      throw boost::bad_get();
+    return *result;
+  }
+
+  template <typename U, BOOST_VARIANT_ENUM_PARAMS(typename T) >
+  inline
+  typename boost::add_reference<const U>::type
+  get(
+      const boost::variant< BOOST_VARIANT_ENUM_PARAMS(T) >& operand
+      BOOST_VARIANT_AUX_GET_EXPLICIT_TEMPLATE_TYPE(U)
+  )
+  {
+    typedef typename boost::add_pointer<const U>::type U_ptr;
+    U_ptr result = variant_workaround::get<const U>(&operand);
+
+    if (!result)
+      throw boost::bad_get();
+    return *result;
+  }
+#endif
+
+}

gtsam/nonlinear/ISAM2-inl.h

@@ -30,6 +30,7 @@ using namespace boost::assign;
 #include <gtsam/nonlinear/ISAM2-impl-inl.h>
 #include <gtsam/nonlinear/DoglegOptimizerImpl.h>
 
+
 namespace gtsam {
 
 using namespace std;
@@ -43,16 +44,18 @@ static const bool structuralLast = false;
 template<class CONDITIONAL, class VALUES, class GRAPH>
 ISAM2<CONDITIONAL, VALUES, GRAPH>::ISAM2(const ISAM2Params& params):
     delta_(Permutation(), deltaUnpermuted_), params_(params) {
+  // See note in gtsam/base/boost_variant_with_workaround.h
   if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
-    doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
+    doglegDelta_ = variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
 }
 
 /* ************************************************************************* */
 template<class CONDITIONAL, class VALUES, class GRAPH>
 ISAM2<CONDITIONAL, VALUES, GRAPH>::ISAM2():
     delta_(Permutation(), deltaUnpermuted_) {
+  // See note in gtsam/base/boost_variant_with_workaround.h
   if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
-    doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
+    doglegDelta_ = variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
 }
 
 /* ************************************************************************* */
@@ -528,7 +531,9 @@ ISAM2Result ISAM2<CONDITIONAL, VALUES, GRAPH>::update(
   tic(9,"solve");
   // 9. Solve
   if(params_.optimizationParams.type() == typeid(ISAM2GaussNewtonParams)) {
-    const ISAM2GaussNewtonParams& gaussNewtonParams = boost::get<ISAM2GaussNewtonParams>(params_.optimizationParams);
+  // See note in gtsam/base/boost_variant_with_workaround.h
+    const ISAM2GaussNewtonParams& gaussNewtonParams =
+        variant_workaround::get<ISAM2GaussNewtonParams>(params_.optimizationParams);
     if (gaussNewtonParams.wildfireThreshold <= 0.0 || disableReordering) {
       VectorValues newDelta(theta_.dims(ordering_));
       optimize2(this->root(), newDelta);
@@ -550,7 +555,9 @@ ISAM2Result ISAM2<CONDITIONAL, VALUES, GRAPH>::update(
 #endif
     }
   } else if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) {
-    const ISAM2DoglegParams& doglegParams = boost::get<ISAM2DoglegParams>(params_.optimizationParams);
+  // See note in gtsam/base/boost_variant_with_workaround.h
+    const ISAM2DoglegParams& doglegParams =
+        variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams);
     // Do one Dogleg iteration
     DoglegOptimizerImpl::IterationResult doglegResult = DoglegOptimizerImpl::Iterate(
         *doglegDelta_, doglegParams.adaptationMode, *this, nonlinearFactors_, theta_, ordering_, nonlinearFactors_.error(theta_), doglegParams.verbose);

gtsam/nonlinear/ISAM2.h

@@ -23,7 +23,8 @@
 #include <gtsam/nonlinear/DoglegOptimizerImpl.h>
 #include <gtsam/inference/BayesTree.h>
 
-#include <boost/variant.hpp>
+// Workaround for boost < 1.47, see note in file
+#include <gtsam/base/boost_variant_with_workaround.h>
 
 namespace gtsam {