GTSAM_CONCEPT_ASSERT to replace BOOST equivalent.

GTSAM-Concepts.md

@@ -166,7 +166,7 @@ Concept Checks
 
 Boost provides a nice way to check whether a given type satisfies a concept. For example, the following
 
-    BOOST_CONCEPT_ASSERT(IsVectorSpace<Point2>)
+    GTSAM_CONCEPT_ASSERT(IsVectorSpace<Point2>)
     
 asserts that Point2 indeed is a model for the VectorSpace concept.
 

gtsam/base/FastSet.h

@@ -51,7 +51,7 @@ template<typename VALUE>
 class FastSet: public std::set<VALUE, std::less<VALUE>,
     typename internal::FastDefaultAllocator<VALUE>::type> {
 
-  BOOST_CONCEPT_ASSERT ((IsTestable<VALUE> ));
+  GTSAM_CONCEPT_ASSERT(IsTestable<VALUE>);
 
 public:
 

gtsam/base/Group.h

@@ -52,8 +52,8 @@ public:
   typedef typename traits<G>::group_flavor flavor_tag;
   //typedef typename traits<G>::identity::value_type identity_value_type;
 
-  BOOST_CONCEPT_USAGE(IsGroup) {
+  GTSAM_CONCEPT_USAGE(IsGroup) {
-    BOOST_STATIC_ASSERT_MSG(
+    static_assert(
         (std::is_base_of<group_tag, structure_category_tag>::value),
         "This type's structure_category trait does not assert it as a group (or derived)");
     e = traits<G>::Identity();
@@ -82,7 +82,7 @@ private:
 
 /// Check invariants
 template<typename G>
-BOOST_CONCEPT_REQUIRES(((IsGroup<G>)),(bool)) //
+GTSAM_CONCEPT_REQUIRES(IsGroup<G>,bool) //
 check_group_invariants(const G& a, const G& b, double tol = 1e-9) {
   G e = traits<G>::Identity();
   return traits<G>::Equals(traits<G>::Compose(a, traits<G>::Inverse(a)), e, tol)
@@ -128,7 +128,7 @@ struct AdditiveGroup : AdditiveGroupTraits<Class>, Testable<Class> {};
 
 /// compose multiple times
 template<typename G>
-BOOST_CONCEPT_REQUIRES(((IsGroup<G>)),(G)) //
+GTSAM_CONCEPT_REQUIRES(IsGroup<G>,G) //
 compose_pow(const G& g, size_t n) {
   if (n == 0) return traits<G>::Identity();
   else if (n == 1) return g;
@@ -139,8 +139,8 @@ compose_pow(const G& g, size_t n) {
 /// Assumes nothing except group structure and Testable from G and H
 template<typename G, typename H>
 class DirectProduct: public std::pair<G, H> {
-  BOOST_CONCEPT_ASSERT((IsGroup<G>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<G>);
-  BOOST_CONCEPT_ASSERT((IsGroup<H>));
+  GTSAM_CONCEPT_ASSERT2(IsGroup<H>);
 
 public:
   /// Default constructor yields identity
@@ -170,8 +170,8 @@ struct traits<DirectProduct<G, H> > :
 /// Assumes existence of three additive operators for both groups
 template<typename G, typename H>
 class DirectSum: public std::pair<G, H> {
-  BOOST_CONCEPT_ASSERT((IsGroup<G>));  // TODO(frank): check additive
+  GTSAM_CONCEPT_ASSERT1(IsGroup<G>);  // TODO(frank): check additive
-  BOOST_CONCEPT_ASSERT((IsGroup<H>));  // TODO(frank): check additive
+  GTSAM_CONCEPT_ASSERT2(IsGroup<H>);  // TODO(frank): check additive
 
   const G& g() const { return this->first; }
   const H& h() const { return this->second;}

gtsam/base/Lie.h

@@ -264,8 +264,8 @@ public:
   typedef typename traits<T>::TangentVector TangentVector;
   typedef typename traits<T>::ChartJacobian ChartJacobian;
 
-  BOOST_CONCEPT_USAGE(IsLieGroup) {
+  GTSAM_CONCEPT_USAGE(IsLieGroup) {
-    BOOST_STATIC_ASSERT_MSG(
+    static_assert(
         (std::is_base_of<lie_group_tag, structure_category_tag>::value),
         "This type's trait does not assert it is a Lie group (or derived)");
 

gtsam/base/Manifold.h

@@ -22,12 +22,7 @@
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/OptionalJacobian.h>
-
+#include <gtsam/base/concepts.h>
-#ifdef GTSAM_USE_BOOST_FEATURES
-#include <boost/concept_check.hpp>
-#include <boost/concept/requires.hpp>
-#include <boost/type_traits/is_base_of.hpp>
-#endif
 
 namespace gtsam {
 
@@ -66,7 +61,7 @@ struct HasManifoldPrereqs {
   Eigen::Matrix<double, dim, 1> v;
   OptionalJacobian<dim, dim> Hp, Hq, Hv;
 
-  BOOST_CONCEPT_USAGE(HasManifoldPrereqs) {
+  GTSAM_CONCEPT_USAGE(HasManifoldPrereqs) {
     v = p.localCoordinates(q);
     q = p.retract(v);
   }
@@ -97,7 +92,7 @@ template<class Class>
 struct ManifoldTraits: GetDimensionImpl<Class, Class::dimension> {
 
   // Check that Class has the necessary machinery
-  BOOST_CONCEPT_ASSERT((HasManifoldPrereqs<Class>));
+  GTSAM_CONCEPT_ASSERT(HasManifoldPrereqs<Class>);
 
   // Dimension of the manifold
   enum { dimension = Class::dimension };
@@ -125,7 +120,7 @@ template<class Class> struct Manifold: ManifoldTraits<Class>, Testable<Class> {}
 
 /// Check invariants for Manifold type
 template<typename T>
-BOOST_CONCEPT_REQUIRES(((IsTestable<T>)),(bool)) //
+GTSAM_CONCEPT_REQUIRES(IsTestable<T>, bool) //
 check_manifold_invariants(const T& a, const T& b, double tol=1e-9) {
   typename traits<T>::TangentVector v0 = traits<T>::Local(a,a);
   typename traits<T>::TangentVector v = traits<T>::Local(a,b);
@@ -144,11 +139,11 @@ public:
   typedef typename traits<T>::ManifoldType ManifoldType;
   typedef typename traits<T>::TangentVector TangentVector;
 
-  BOOST_CONCEPT_USAGE(IsManifold) {
+  GTSAM_CONCEPT_USAGE(IsManifold) {
-    BOOST_STATIC_ASSERT_MSG(
+    static_assert(
         (std::is_base_of<manifold_tag, structure_category_tag>::value),
         "This type's structure_category trait does not assert it as a manifold (or derived)");
-    BOOST_STATIC_ASSERT(TangentVector::SizeAtCompileTime == dim);
+    static_assert(TangentVector::SizeAtCompileTime == dim);
 
     // make sure Chart methods are defined
     v = traits<T>::Local(p, q);
@@ -166,7 +161,7 @@ template<typename T>
 struct FixedDimension {
   typedef const int value_type;
   static const int value = traits<T>::dimension;
-  BOOST_STATIC_ASSERT_MSG(value != Eigen::Dynamic,
+  static_assert(value != Eigen::Dynamic,
       "FixedDimension instantiated for dymanically-sized type.");
 };
 } // \ namespace gtsam

gtsam/base/ProductLieGroup.h

@@ -27,8 +27,8 @@ namespace gtsam {
 /// Assumes Lie group structure for G and H
 template<typename G, typename H>
 class ProductLieGroup: public std::pair<G, H> {
-  BOOST_CONCEPT_ASSERT((IsLieGroup<G>));
+  GTSAM_CONCEPT_ASSERT1(IsLieGroup<G>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<H>));
+  GTSAM_CONCEPT_ASSERT2(IsLieGroup<H>);
   typedef std::pair<G, H> Base;
 
 protected:

gtsam/base/Testable.h

@@ -33,9 +33,7 @@
 
 #pragma once
 
-#ifdef GTSAM_USE_BOOST_FEATURES
+#include <gtsam/base/concepts.h>
-#include <boost/concept_check.hpp>
-#endif
 
 #include <functional>
 #include <iostream>
@@ -63,7 +61,7 @@ namespace gtsam {
     bool r1,r2;
   public:
 
-    BOOST_CONCEPT_USAGE(IsTestable) {
+    GTSAM_CONCEPT_USAGE(IsTestable) {
       // check print function, with optional string
       traits<T>::Print(t, std::string());
       traits<T>::Print(t);
@@ -136,7 +134,7 @@ namespace gtsam {
   template<typename T>
   struct HasTestablePrereqs {
 
-    BOOST_CONCEPT_USAGE(HasTestablePrereqs) {
+    GTSAM_CONCEPT_USAGE(HasTestablePrereqs) {
       t->print(str);
       b = t->equals(*s,tol);
     }
@@ -154,7 +152,7 @@ namespace gtsam {
   struct Testable {
 
     // Check that T has the necessary methods
-    BOOST_CONCEPT_ASSERT((HasTestablePrereqs<T>));
+    GTSAM_CONCEPT_ASSERT(HasTestablePrereqs<T>);
 
     static void Print(const T& m, const std::string& str = "") {
       m.print(str);
@@ -173,7 +171,7 @@ namespace gtsam {
  *
  * NOTE: intentionally not in the gtsam namespace to allow for classes not in
  * the gtsam namespace to be more easily enforced as testable
- * @deprecated please use BOOST_CONCEPT_ASSERT and
+ * @deprecated please use GTSAM_CONCEPT_ASSERT and
  */
 #define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::IsTestable<T>;
 #define GTSAM_CONCEPT_TESTABLE_TYPE(T) using _gtsam_Testable_##T = gtsam::IsTestable<T>;

gtsam/base/VectorSpace.h

@@ -168,7 +168,7 @@ struct HasVectorSpacePrereqs {
   Class p, q;
   Vector v;
 
-  BOOST_CONCEPT_USAGE(HasVectorSpacePrereqs) {
+  GTSAM_CONCEPT_USAGE(HasVectorSpacePrereqs) {
     p = Class::Identity();  // identity
     q = p + p;              // addition
     q = p - p;              // subtraction
@@ -185,7 +185,7 @@ template<class Class>
 struct VectorSpaceTraits: VectorSpaceImpl<Class, Class::dimension> {
 
   // Check that Class has the necessary machinery
-  BOOST_CONCEPT_ASSERT((HasVectorSpacePrereqs<Class>));
+  GTSAM_CONCEPT_ASSERT(HasVectorSpacePrereqs<Class>);
 
   typedef vector_space_tag structure_category;
 
@@ -472,8 +472,8 @@ public:
 
   typedef typename traits<T>::structure_category structure_category_tag;
 
-  BOOST_CONCEPT_USAGE(IsVectorSpace) {
+  GTSAM_CONCEPT_USAGE(IsVectorSpace) {
-    BOOST_STATIC_ASSERT_MSG(
+    static_assert(
         (std::is_base_of<vector_space_tag, structure_category_tag>::value),
         "This type's trait does not assert it as a vector space (or derived)");
     r = p + q;

gtsam/base/chartTesting.h

@@ -39,7 +39,7 @@ void testDefaultChart(TestResult& result_,
 
   // First, check the basic chart concept. This checks that the interface is satisfied.
   // The rest of the function is even more detailed, checking the correctness of the chart.
-  BOOST_CONCEPT_ASSERT((ChartConcept<Chart>));
+  GTSAM_CONCEPT_ASSERT(ChartConcept<Chart>);
 
   T other = value;
 

gtsam/base/concepts.h

@@ -8,28 +8,22 @@
 
 #pragma once
 
-// This is a helper to ease the transition to the new traits defined in this file.
-// Uncomment this if you want all methods that are tagged as not implemented
-// to cause compilation errors.
-#ifdef COMPILE_ERROR_NOT_IMPLEMENTED
-
 #ifdef GTSAM_USE_BOOST_FEATURES
-#include <boost/static_assert.hpp>
+#include <boost/concept_check.hpp>
-#endif
+#define GTSAM_CONCEPT_USAGE(concept) BOOST_CONCEPT_USAGE((concept))
-
+#define GTSAM_CONCEPT_ASSERT(concept) BOOST_CONCEPT_ASSERT((concept))
-#define CONCEPT_NOT_IMPLEMENTED BOOST_STATIC_ASSERT_MSG(boost::false_type, \
+#define GTSAM_CONCEPT_ASSERT1(concept) BOOST_CONCEPT_ASSERT((concept))
-"This method is required by the new concepts framework but has not been implemented yet.");
+#define GTSAM_CONCEPT_ASSERT2(concept) BOOST_CONCEPT_ASSERT((concept))
-
+#define GTSAM_CONCEPT_ASSERT3(concept) BOOST_CONCEPT_ASSERT((concept))
+#define GTSAM_CONCEPT_REQUIRES(concept, return_type) BOOST_CONCEPT_REQUIRES((concept), (return_type))
 #else 
-
+// These do something sensible:
-#include <exception>
+#define GTSAM_CONCEPT_USAGE(concept) void check##concept()
-#define CONCEPT_NOT_IMPLEMENTED \
+#define GTSAM_CONCEPT_ASSERT(concept) concept checkConcept [[maybe_unused]];
-  throw std::runtime_error("This method is required by the new concepts framework but has not been implemented yet.");
+#define GTSAM_CONCEPT_ASSERT1(concept) concept checkConcept1 [[maybe_unused]];
-
+#define GTSAM_CONCEPT_ASSERT2(concept) concept checkConcept2 [[maybe_unused]];
+#define GTSAM_CONCEPT_ASSERT3(concept) concept checkConcept3 [[maybe_unused]];
+// This one just ignores concept for now:
+#define GTSAM_CONCEPT_REQUIRES(concept, return_type) return_type
 #endif
 
-namespace gtsam {
-
-template <typename T> struct traits;
-
-}

gtsam/base/tests/testGroup.cpp

@@ -80,7 +80,7 @@ using namespace gtsam;
 typedef Symmetric<2> S2;
 TEST(Group, S2) {
   S2 e, s1 = S2::Transposition(0, 1);
-  BOOST_CONCEPT_ASSERT((IsGroup<S2>));
+  GTSAM_CONCEPT_ASSERT(IsGroup<S2>);
   EXPECT(check_group_invariants(e, s1));
 }
 
@@ -88,7 +88,7 @@ TEST(Group, S2) {
 typedef Symmetric<3> S3;
 TEST(Group, S3) {
   S3 e, s1 = S3::Transposition(0, 1), s2 = S3::Transposition(1, 2);
-  BOOST_CONCEPT_ASSERT((IsGroup<S3>));
+  GTSAM_CONCEPT_ASSERT(IsGroup<S3>);
   EXPECT(check_group_invariants(e, s1));
   EXPECT(assert_equal(s1, s1 * e));
   EXPECT(assert_equal(s1, e * s1));
@@ -127,7 +127,7 @@ struct traits<Dih6> : internal::MultiplicativeGroupTraits<Dih6> {
 TEST(Group, Dih6) {
   Dih6 e, g(S2::Transposition(0, 1),
       S3::Transposition(0, 1) * S3::Transposition(1, 2));
-  BOOST_CONCEPT_ASSERT((IsGroup<Dih6>));
+  GTSAM_CONCEPT_ASSERT(IsGroup<Dih6>);
   EXPECT(check_group_invariants(e, g));
   EXPECT(assert_equal(e, compose_pow(g, 0)));
   EXPECT(assert_equal(g, compose_pow(g, 1)));

gtsam/base/tests/testMatrix.cpp

@@ -1146,17 +1146,30 @@ TEST(Matrix, DLT )
 }
 
 //******************************************************************************
-TEST(Matrix , IsVectorSpace) {
+TEST(Matrix, Matrix24IsVectorSpace) {
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Matrix24>));
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<Matrix24>);
-  typedef Eigen::Matrix<double,2,3,Eigen::RowMajor> RowMajor;
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<RowMajor>));
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Matrix>));
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Vector>));
-  typedef Eigen::Matrix<double,1,-1> RowVector;
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<RowVector>));
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Vector5>));
 }
 
+TEST(Matrix, RowMajorIsVectorSpace) {
+  typedef Eigen::Matrix<double, 2, 3, Eigen::RowMajor> RowMajor;
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowMajor>);
+}
+
+TEST(Matrix, MatrixIsVectorSpace) {
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<Matrix>);
+}
+
+TEST(Matrix, VectorIsVectorSpace) {
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<Vector>);
+}
+
+TEST(Matrix, RowVectorIsVectorSpace) {
+  typedef Eigen::Matrix<double, 1, -1> RowVector;
+  GTSAM_CONCEPT_ASSERT1(IsVectorSpace<RowVector>);
+  GTSAM_CONCEPT_ASSERT2(IsVectorSpace<Vector5>);
+}
+
+//******************************************************************************
 TEST(Matrix, AbsoluteError) {
   double a = 2000, b = 1997, tol = 1e-1;
   bool isEqual;

gtsam/base/tests/testVector.cpp

@@ -266,11 +266,14 @@ TEST(Vector, linear_dependent3 )
 }
 
 //******************************************************************************
-TEST(Vector, IsVectorSpace) {
+TEST(Vector, VectorIsVectorSpace) {
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Vector5>));
+  GTSAM_CONCEPT_ASSERT1(IsVectorSpace<Vector5>);
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Vector>));
+  GTSAM_CONCEPT_ASSERT2(IsVectorSpace<Vector>);
+}
+
+TEST(Vector, RowVectorIsVectorSpace) {
   typedef Eigen::Matrix<double,1,-1> RowVector;
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<RowVector>));
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowVector>);
 }
 
 /* ************************************************************************* */

gtsam/geometry/tests/testBearingRange.cpp

@@ -34,7 +34,7 @@ BearingRange3D br3D(Pose3().bearing(Point3(1, 0, 0)), 1);
 
 //******************************************************************************
 TEST(BearingRange2D, Concept) {
-  BOOST_CONCEPT_ASSERT((IsManifold<BearingRange2D>));
+  GTSAM_CONCEPT_ASSERT(IsManifold<BearingRange2D>);
 }
 
 /* ************************************************************************* */
@@ -46,7 +46,7 @@ TEST(BearingRange, 2D) {
 
 //******************************************************************************
 TEST(BearingRange3D, Concept) {
-  BOOST_CONCEPT_ASSERT((IsManifold<BearingRange3D>));
+  GTSAM_CONCEPT_ASSERT(IsManifold<BearingRange3D>);
 }
 
 /* ************************************************************************* */

gtsam/geometry/tests/testCyclic.cpp

@@ -27,7 +27,7 @@ typedef Cyclic<2> Z2;
 
 //******************************************************************************
 TEST(Cyclic, Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Z3>));
+  GTSAM_CONCEPT_ASSERT(IsGroup<Z3>);
   EXPECT_LONGS_EQUAL(0, traits<Z3>::Identity());
 }
 
@@ -107,8 +107,8 @@ struct traits<K4> : internal::AdditiveGroupTraits<K4> {
 TEST(Cyclic , DirectSum) {
   // The Direct sum of Z2 and Z2 is *not* Cyclic<4>, but the
   // smallest non-cyclic group called the Klein four-group:
-  BOOST_CONCEPT_ASSERT((IsGroup<K4>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<K4>);
-  BOOST_CONCEPT_ASSERT((IsTestable<K4>));
+  GTSAM_CONCEPT_ASSERT2(IsTestable<K4>);
 
   // Refer to http://en.wikipedia.org/wiki/Klein_four-group
   K4 e(0,0), a(0, 1), b(1, 0), c(1, 1);

gtsam/geometry/tests/testPoint2.cpp

@@ -34,9 +34,9 @@ TEST(Point2 , Constructor) {
 
 //******************************************************************************
 TEST(Double , Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<double>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<double>);
-  BOOST_CONCEPT_ASSERT((IsManifold<double>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<double>);
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<double>));
+  GTSAM_CONCEPT_ASSERT3(IsVectorSpace<double>);
 }
 
 //******************************************************************************
@@ -48,9 +48,9 @@ TEST(Double , Invariants) {
 
 //******************************************************************************
 TEST(Point2 , Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Point2>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<Point2>);
-  BOOST_CONCEPT_ASSERT((IsManifold<Point2>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Point2>);
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Point2>));
+  GTSAM_CONCEPT_ASSERT3(IsVectorSpace<Point2>);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testPoint3.cpp

@@ -34,9 +34,9 @@ TEST(Point3 , Constructor) {
 
 //******************************************************************************
 TEST(Point3 , Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Point3>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<Point3>);
-  BOOST_CONCEPT_ASSERT((IsManifold<Point3>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Point3>);
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Point3>));
+  GTSAM_CONCEPT_ASSERT3(IsVectorSpace<Point3>);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testPose2.cpp

@@ -35,9 +35,9 @@ GTSAM_CONCEPT_LIE_INST(Pose2)
 
 //******************************************************************************
 TEST(Pose2 , Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Pose2 >));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<Pose2 >);
-  BOOST_CONCEPT_ASSERT((IsManifold<Pose2 >));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Pose2 >);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Pose2 >));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<Pose2 >);
 }
 
 /* ************************************************************************* */

gtsam/geometry/tests/testQuaternion.cpp

@@ -29,9 +29,9 @@ typedef traits<Q>::ChartJacobian QuaternionJacobian;
 
 //******************************************************************************
 TEST(Quaternion , Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Quaternion >));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<Quaternion >);
-  BOOST_CONCEPT_ASSERT((IsManifold<Quaternion >));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Quaternion >);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Quaternion >));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<Quaternion >);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testRot3.cpp

@@ -38,9 +38,9 @@ static double error = 1e-9, epsilon = 0.001;
 
 //******************************************************************************
 TEST(Rot3 , Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Rot3 >));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<Rot3 >);
-  BOOST_CONCEPT_ASSERT((IsManifold<Rot3 >));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Rot3 >);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Rot3 >));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<Rot3 >);
 }
 
 /* ************************************************************************* */

gtsam/geometry/tests/testSO3.cpp

@@ -36,9 +36,9 @@ TEST(SO3, Identity) {
 
 //******************************************************************************
 TEST(SO3, Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<SO3>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<SO3>);
-  BOOST_CONCEPT_ASSERT((IsManifold<SO3>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<SO3>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<SO3>));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<SO3>);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testSO4.cpp

@@ -42,9 +42,9 @@ TEST(SO4, Identity) {
 
 //******************************************************************************
 TEST(SO4, Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<SO4>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<SO4>);
-  BOOST_CONCEPT_ASSERT((IsManifold<SO4>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<SO4>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<SO4>));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<SO4>);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testSOn.cpp

@@ -84,9 +84,9 @@ TEST(SOn, SO5) {
 
 //******************************************************************************
 TEST(SOn, Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<SOn>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<SOn>);
-  BOOST_CONCEPT_ASSERT((IsManifold<SOn>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<SOn>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<SOn>));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<SOn>);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testSimilarity2.cpp

@@ -35,9 +35,9 @@ static const double s = 4;
 
 //******************************************************************************
 TEST(Similarity2, Concepts) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Similarity2>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<Similarity2>);
-  BOOST_CONCEPT_ASSERT((IsManifold<Similarity2>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Similarity2>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Similarity2>));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<Similarity2>);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testSimilarity3.cpp

@@ -54,9 +54,9 @@ const double degree = M_PI / 180;
 
 //******************************************************************************
 TEST(Similarity3, Concepts) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Similarity3 >));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<Similarity3 >);
-  BOOST_CONCEPT_ASSERT((IsManifold<Similarity3 >));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Similarity3 >);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Similarity3 >));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<Similarity3 >);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testStereoPoint2.cpp

@@ -31,9 +31,9 @@ GTSAM_CONCEPT_TESTABLE_INST(StereoPoint2)
 
 //******************************************************************************
 TEST(StereoPoint2 , Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<StereoPoint2>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<StereoPoint2>);
-  BOOST_CONCEPT_ASSERT((IsManifold<StereoPoint2 >));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<StereoPoint2 >);
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<StereoPoint2>));
+  GTSAM_CONCEPT_ASSERT3(IsVectorSpace<StereoPoint2>);
 }
 
 /* ************************************************************************* */

gtsam/nonlinear/Expression.h

@@ -218,7 +218,7 @@ protected:
 template <typename T>
 class ScalarMultiplyExpression : public Expression<T> {
   // Check that T is a vector space
-  BOOST_CONCEPT_ASSERT((gtsam::IsVectorSpace<T>));
+  GTSAM_CONCEPT_ASSERT(gtsam::IsVectorSpace<T>);
 
  public:
   explicit ScalarMultiplyExpression(double s, const Expression<T>& e);
@@ -231,7 +231,7 @@ class ScalarMultiplyExpression : public Expression<T> {
 template <typename T>
 class BinarySumExpression : public Expression<T> {
   // Check that T is a vector space
-  BOOST_CONCEPT_ASSERT((gtsam::IsVectorSpace<T>));
+  GTSAM_CONCEPT_ASSERT(gtsam::IsVectorSpace<T>);
 
  public:
   explicit BinarySumExpression(const Expression<T>& e1, const Expression<T>& e2);

gtsam/nonlinear/ExpressionFactor.h

@@ -42,7 +42,7 @@ namespace gtsam {
  */
 template <typename T>
 class ExpressionFactor : public NoiseModelFactor {
-  BOOST_CONCEPT_ASSERT((IsTestable<T>));
+  GTSAM_CONCEPT_ASSERT(IsTestable<T>);
 
 protected:
 

gtsam/nonlinear/ExtendedKalmanFilter.h

@@ -44,8 +44,8 @@ namespace gtsam {
 template <class VALUE>
 class ExtendedKalmanFilter {
   // Check that VALUE type is a testable Manifold
-  BOOST_CONCEPT_ASSERT((IsTestable<VALUE>));
+  GTSAM_CONCEPT_ASSERT1(IsTestable<VALUE>);
-  BOOST_CONCEPT_ASSERT((IsManifold<VALUE>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<VALUE>);
 
  public:
   typedef std::shared_ptr<ExtendedKalmanFilter<VALUE> > shared_ptr;

gtsam/nonlinear/internal/ExpressionNode.h

@@ -38,7 +38,7 @@ T & upAlign(T & value, unsigned requiredAlignment = TraceAlignment) {
   // right now only word sized types are supported.
   // Easy to extend if needed,
   //   by somehow inferring the unsigned integer of same size
-  BOOST_STATIC_ASSERT(sizeof(T) == sizeof(size_t));
+  static_assert(sizeof(T) == sizeof(size_t));
   size_t & uiValue = reinterpret_cast<size_t &>(value);
   size_t misAlignment = uiValue % requiredAlignment;
   if (misAlignment) {
@@ -559,7 +559,7 @@ public:
 template <class T>
 class ScalarMultiplyNode : public ExpressionNode<T> {
   // Check that T is a vector space
-  BOOST_CONCEPT_ASSERT((gtsam::IsVectorSpace<T>));
+  GTSAM_CONCEPT_ASSERT(gtsam::IsVectorSpace<T>);
 
   double scalar_;
   std::shared_ptr<ExpressionNode<T> > expression_;

gtsam/sfm/BinaryMeasurement.h

@@ -35,7 +35,7 @@ namespace gtsam {
 
 template <class T> class BinaryMeasurement : public Factor {
   // Check that T type is testable
-  BOOST_CONCEPT_ASSERT((IsTestable<T>));
+  GTSAM_CONCEPT_ASSERT(IsTestable<T>);
 
 public:
   // shorthand for a smart pointer to a measurement

gtsam/slam/BetweenFactor.h

@@ -40,8 +40,8 @@ namespace gtsam {
   class BetweenFactor: public NoiseModelFactorN<VALUE, VALUE> {
 
     // Check that VALUE type is a testable Lie group
-    BOOST_CONCEPT_ASSERT((IsTestable<VALUE>));
+    GTSAM_CONCEPT_ASSERT1(IsTestable<VALUE>);
-    BOOST_CONCEPT_ASSERT((IsLieGroup<VALUE>));
+    GTSAM_CONCEPT_ASSERT2(IsLieGroup<VALUE>);
 
   public:
 

tests/testLie.cpp

@@ -47,9 +47,9 @@ template<> struct traits<Product> : internal::LieGroupTraits<Product> {
 
 //******************************************************************************
 TEST(Lie, ProductLieGroup) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Product>));
+  GTSAM_CONCEPT_ASSERT1(IsGroup<Product>);
-  BOOST_CONCEPT_ASSERT((IsManifold<Product>));
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Product>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Product>));
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<Product>);
   Product pair1;
   Vector5 d;
   d << 1, 2, 0.1, 0.2, 0.3;

tests/testManifold.cpp

@@ -37,27 +37,27 @@ typedef PinholeCamera<Cal3Bundler> Camera;
 
 //******************************************************************************
 TEST(Manifold, SomeManifoldsGTSAM) {
-  //BOOST_CONCEPT_ASSERT((IsManifold<int>)); // integer is not a manifold
+  //GTSAM_CONCEPT_ASSERT(IsManifold<int>); // integer is not a manifold
-  BOOST_CONCEPT_ASSERT((IsManifold<Camera>));
+  GTSAM_CONCEPT_ASSERT(IsManifold<Camera>);
-  BOOST_CONCEPT_ASSERT((IsManifold<Cal3_S2>));
+  GTSAM_CONCEPT_ASSERT(IsManifold<Cal3_S2>);
-  BOOST_CONCEPT_ASSERT((IsManifold<Cal3Bundler>));
+  GTSAM_CONCEPT_ASSERT(IsManifold<Cal3Bundler>);
-  BOOST_CONCEPT_ASSERT((IsManifold<Camera>));
+  GTSAM_CONCEPT_ASSERT(IsManifold<Camera>);
 }
 
 //******************************************************************************
 TEST(Manifold, SomeLieGroupsGTSAM) {
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Rot2>));
+  GTSAM_CONCEPT_ASSERT(IsLieGroup<Rot2>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Pose2>));
+  GTSAM_CONCEPT_ASSERT(IsLieGroup<Pose2>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Rot3>));
+  GTSAM_CONCEPT_ASSERT(IsLieGroup<Rot3>);
-  BOOST_CONCEPT_ASSERT((IsLieGroup<Pose3>));
+  GTSAM_CONCEPT_ASSERT(IsLieGroup<Pose3>);
 }
 
 //******************************************************************************
 TEST(Manifold, SomeVectorSpacesGTSAM) {
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<double>));
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<double>);
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<float>));
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<float>);
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Point2>));
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<Point2>);
-  BOOST_CONCEPT_ASSERT((IsVectorSpace<Matrix24>));
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<Matrix24>);
 }
 
 //******************************************************************************