Got rid or ifdefed many boost headers

gtsam/base/ConcurrentMap.h

@@ -52,7 +52,6 @@ using ConcurrentMapBase = gtsam::FastMap<KEY, VALUE>;
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/split_member.hpp>
 #endif
-#include <boost/static_assert.hpp>
 
 #include <gtsam/base/FastVector.h>
 

gtsam/base/FastList.h

@@ -20,7 +20,6 @@
 
 #include <gtsam/base/FastDefaultAllocator.h>
 #include <list>
-#include <boost/utility/enable_if.hpp>
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/version.hpp>

gtsam/base/FastSet.h

@@ -18,8 +18,8 @@
 
 #pragma once
 
-#include <boost/version.hpp>
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#include <boost/version.hpp>
 #if BOOST_VERSION >= 107400
 #include <boost/serialization/library_version_type.hpp>
 #endif

gtsam/base/GenericValue.h

@@ -23,8 +23,6 @@
 #include <gtsam/base/types.h>
 #include <gtsam/base/Value.h>
 
-#include <boost/pool/pool_alloc.hpp>
-
 #include <cmath>
 #include <iostream>
 #include <typeinfo> // operator typeid

gtsam/base/Group.h

@@ -22,10 +22,13 @@
 
 #include <gtsam/base/Testable.h>
 
+#ifdef GTSAM_USE_BOOST_FEATURES
 #include <boost/concept_check.hpp>
 #include <boost/concept/requires.hpp>
 #include <boost/type_traits/is_base_of.hpp>
 #include <boost/static_assert.hpp>
+#endif
+
 #include <utility>
 
 namespace gtsam {

gtsam/base/Manifold.h

@@ -23,9 +23,11 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/OptionalJacobian.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 {
 

gtsam/base/Testable.h

@@ -33,7 +33,10 @@
 
 #pragma once
 
+#ifdef GTSAM_USE_BOOST_FEATURES
 #include <boost/concept_check.hpp>
+#endif
+
 #include <functional>
 #include <iostream>
 #include <memory>

gtsam/base/concepts.h

@@ -13,7 +13,10 @@
 // to cause compilation errors.
 #ifdef COMPILE_ERROR_NOT_IMPLEMENTED
 
+#ifdef GTSAM_USE_BOOST_FEATURES
 #include <boost/static_assert.hpp>
+#endif
+
 #define CONCEPT_NOT_IMPLEMENTED BOOST_STATIC_ASSERT_MSG(boost::false_type, \
 "This method is required by the new concepts framework but has not been implemented yet.");
 

gtsam/base/types.h

@@ -20,8 +20,10 @@
 #pragma once
 
 #include <gtsam/dllexport.h>
+#ifdef GTSAM_USE_BOOST_FEATURES
 #include <boost/concept/assert.hpp>
 #include <boost/range/concepts.hpp>
+#endif
 #include <gtsam/config.h> // for GTSAM_USE_TBB
 
 #include <cstddef>

gtsam/linear/GaussianConditional.h

@@ -19,8 +19,6 @@
 
 #pragma once
 
-#include <boost/utility.hpp>
-
 #include <gtsam/global_includes.h>
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/inference/Conditional.h>

gtsam/linear/PCGSolver.cpp

@@ -22,8 +22,6 @@
 #include <gtsam/linear/Preconditioner.h>
 #include <gtsam/linear/VectorValues.h>
 
-#include <boost/algorithm/string.hpp>
-
 #include <algorithm>
 #include <iostream>
 #include <stdexcept>

gtsam/linear/SubgraphBuilder.cpp

@@ -25,9 +25,9 @@
 #include <gtsam/linear/SubgraphBuilder.h>
 #include <gtsam/base/kruskal.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/archive/text_iarchive.hpp>
 #include <boost/archive/text_oarchive.hpp>
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/vector.hpp>
 #endif
 

gtsam/linear/SubgraphPreconditioner.cpp

@@ -24,8 +24,6 @@
 #include <gtsam/base/types.h>
 #include <gtsam/base/Vector.h>
 
-#include <boost/algorithm/string.hpp>
-
 #include <stdexcept>
 
 using std::cout;

gtsam/linear/VectorValues.cpp

@@ -18,9 +18,6 @@
 
 #include <gtsam/linear/VectorValues.h>
 
-#include <boost/bind/bind.hpp>
-#include <boost/range/numeric.hpp>
-
 using namespace std;
 
 namespace gtsam {

gtsam/linear/linearExceptions.cpp

@@ -18,7 +18,6 @@
 
 #include <gtsam/linear/linearExceptions.h>
 #include <gtsam/inference/Symbol.h>
-#include <boost/lexical_cast.hpp>
 
 namespace gtsam {
 

gtsam/linear/tests/testGaussianBayesNet.cpp

@@ -24,7 +24,6 @@
 #include <gtsam/inference/Symbol.h>
 
 #include <CppUnitLite/TestHarness.h>
-#include <boost/bind/bind.hpp>
 
 // STL/C++
 #include <iostream>

gtsam/linear/tests/testJacobianFactor.cpp

@@ -25,8 +25,6 @@
 #include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/linear/VectorValues.h>
 
-#include <boost/range/iterator_range.hpp>
-
 using namespace std;
 using namespace gtsam;
 

gtsam/navigation/ImuFactor.h

@@ -320,6 +320,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -329,6 +330,7 @@ private:
          boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(_PIM_);
   }
+#endif
 };
 // class ImuFactor2
 

gtsam/navigation/tests/testAttitudeFactor.cpp

@@ -20,7 +20,6 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
 #include <functional>
 #include "gtsam/base/Matrix.h"
 #include <CppUnitLite/TestHarness.h>

gtsam/navigation/tests/testBarometricFactor.cpp

@@ -21,8 +21,6 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/navigation/BarometricFactor.h>
 
-#include <boost/bind/bind.hpp>
-
 using namespace std::placeholders;
 using namespace std;
 using namespace gtsam;

gtsam/navigation/tests/testImuFactor.cpp

@@ -30,7 +30,6 @@
 #include <gtsam/base/numericalDerivative.h>
 
 #include <CppUnitLite/TestHarness.h>
-#include <boost/bind/bind.hpp>
 #include <list>
 
 #include "imuFactorTesting.h"

gtsam/navigation/tests/testMagFactor.cpp

@@ -20,8 +20,6 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
-
 #include <CppUnitLite/TestHarness.h>
 
 #include <GeographicLib/LocalCartesian.hpp>

gtsam/navigation/tests/testNavState.cpp

@@ -20,7 +20,6 @@
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std::placeholders;

gtsam/nonlinear/ExpressionFactor.h

@@ -288,6 +288,7 @@ private:
     return expression(keys);
   }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
@@ -295,6 +296,7 @@ private:
         "ExpressionFactorN",
         boost::serialization::base_object<ExpressionFactor<T>>(*this));
   }
+#endif
 };
 /// traits
 template <typename T, typename... Args>

gtsam/nonlinear/NonlinearEquality.h

@@ -21,8 +21,6 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/Manifold.h>
 
-#include <boost/bind/bind.hpp>
-
 #include <limits>
 #include <iostream>
 #include <cmath>
@@ -346,6 +344,7 @@ class NonlinearEquality2 : public NoiseModelFactorN<T, T> {
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /// Serialization function
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -354,6 +353,7 @@ class NonlinearEquality2 : public NoiseModelFactorN<T, T> {
     ar& boost::serialization::make_nvp(
         "NoiseModelFactor2", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };
 // \NonlinearEquality2
 

gtsam/nonlinear/Values-inl.h

@@ -25,11 +25,8 @@
 #pragma once
 
 #include <utility>
-#include <boost/bind/bind.hpp>
 #include <gtsam/nonlinear/Values.h>
 
-#include <boost/bind/bind.hpp>
-
 #include <gtsam/nonlinear/Values.h> // Only so Eclipse finds class definition
 
 namespace gtsam {

gtsam/nonlinear/tests/testValues.cpp

@@ -25,7 +25,6 @@
 #include <gtsam/base/TestableAssertions.h>
 
 #include <CppUnitLite/TestHarness.h>
-#include <boost/bind/bind.hpp>
 #include <stdexcept>
 #include <limits>
 #include <type_traits>

gtsam/sam/tests/testRangeFactor.cpp

@@ -25,7 +25,6 @@
 #include <gtsam/base/TestableAssertions.h>
 
 #include <CppUnitLite/TestHarness.h>
-#include <boost/bind/bind.hpp>
 
 using namespace std::placeholders;
 using namespace std;

gtsam/slam/GeneralSFMFactor.h

@@ -36,7 +36,6 @@
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/none.hpp>
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #endif

gtsam/slam/InitializePose3.cpp

@@ -27,8 +27,6 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/math/special_functions.hpp>
-
 #include <utility>
 
 using namespace std;

gtsam/slam/TriangulationFactor.h

@@ -19,7 +19,6 @@
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/geometry/CalibratedCamera.h>
-#include <boost/lexical_cast.hpp>
 
 namespace gtsam {
 
@@ -86,7 +85,7 @@ public:
     if (model && model->dim() != traits<Measurement>::dimension)
       throw std::invalid_argument(
           "TriangulationFactor must be created with "
-              + boost::lexical_cast<std::string>((int) traits<Measurement>::dimension)
+              + std::to_string((int) traits<Measurement>::dimension)
               + "-dimensional noise model.");
   }
 

gtsam/slam/lago.cpp

@@ -19,17 +19,16 @@
 #include <gtsam/slam/lago.h>
 
 #include <gtsam/slam/InitializePose.h>
-#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/inference/Symbol.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/geometry/Pose2.h>
+#include <gtsam/inference/Symbol.h>
 #include <gtsam/base/timing.h>
 #include <gtsam/base/kruskal.h>
 
-#include <boost/math/special_functions.hpp>
-
 #include <iostream>
 #include <stack>
+#include <cmath>
 
 using namespace std;
 
@@ -188,7 +187,7 @@ GaussianFactorGraph buildLinearOrientationGraph(
     ///cout << "REG: key1= " << DefaultKeyFormatter(key1) << " key2= " << DefaultKeyFormatter(key2) << endl;
     double k2pi_noise = key1_DeltaTheta_key2 + orientationsToRoot.at(key1)
         - orientationsToRoot.at(key2); // this coincides to summing up measurements along the cycle induced by the chord
-    double k = boost::math::round(k2pi_noise / (2 * M_PI));
+    double k = std::round(k2pi_noise / (2 * M_PI));
     //if (k2pi_noise - 2*k*M_PI > 1e-5) cout << k2pi_noise - 2*k*M_PI << endl; // for debug
     Vector deltaThetaRegularized = (Vector(1)
         << key1_DeltaTheta_key2 - 2 * k * M_PI).finished();

gtsam/slam/tests/testTriangulationFactor.cpp

@@ -25,8 +25,6 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/bind/bind.hpp>
-
 using namespace std;
 using namespace gtsam;
 using namespace std::placeholders;

gtsam_unstable/dynamics/FullIMUFactor.h

@@ -10,8 +10,6 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam_unstable/dynamics/PoseRTV.h>
 
-#include <boost/bind/bind.hpp>
-
 namespace gtsam {
 
 /**

gtsam_unstable/dynamics/IMUFactor.h

@@ -10,8 +10,6 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam_unstable/dynamics/PoseRTV.h>
 
-#include <boost/bind/bind.hpp>
-
 namespace gtsam {
 
 /**

gtsam_unstable/dynamics/VelocityConstraint.h

@@ -10,8 +10,6 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam_unstable/dynamics/PoseRTV.h>
 
-#include <boost/bind/bind.hpp>
-
 namespace gtsam {
 
 namespace dynamics {

gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h

@@ -27,8 +27,6 @@
 // Using numerical derivative to calculate d(Pose3::Expmap)/dw
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
-
 #include <ostream>
 
 namespace gtsam {

gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h

@@ -26,8 +26,6 @@
 // Using numerical derivative to calculate d(Pose3::Expmap)/dw
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
-
 #include <ostream>
 
 namespace gtsam {

gtsam_unstable/slam/InvDepthFactorVariant1.h

@@ -17,8 +17,6 @@
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
-
 namespace gtsam {
 
 /**

gtsam_unstable/slam/InvDepthFactorVariant2.h

@@ -18,8 +18,6 @@
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
-
 namespace gtsam {
 
 /**

gtsam_unstable/slam/InvDepthFactorVariant3.h

@@ -17,8 +17,6 @@
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
-
 namespace gtsam {
 
 /**

gtsam_unstable/slam/tests/testEquivInertialNavFactor_GlobalVel.cpp

@@ -22,7 +22,6 @@
 #include <gtsam/inference/Key.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/bind/bind.hpp>
 #include <CppUnitLite/TestHarness.h>
 #include <iostream>