Removing more boost usage #1372
Conversation
Codecov Report
@@ Coverage Diff @@
## main #1372 +/- ##
==========================================
+ Coverage 61.54% 61.56% +0.02%
==========================================
Files 274 274
Lines 24981 24977 -4
==========================================
+ Hits 15373 15374 +1
+ Misses 9608 9603 -5
Continue to review full report at Codecov.
|
moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
Show resolved
Hide resolved
...k_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
Show resolved
Hide resolved
| @@ -34,7 +34,6 @@ | |||
|
|
|||
| /* Author: Bryce Willey */ | |||
|
|
|||
| #include <boost/algorithm/string_regex.hpp> | |||
| #include <boost/math/constants/constants.hpp> | |||
There was a problem hiding this comment.
You could get rid of this because PI is available from math.h. I don't care too much about this suggestion, though
There was a problem hiding this comment.
Should I use #define _USE_MATH_DEFINES before including cmath or math.h, or use add_definitions(-D_USE_MATH_DEFINES) (as mentioned here)? Or should we just leave it as using boost? We might be able to remove boost from some CMakeList.txts or package.xmls if we change.
There was a problem hiding this comment.
If this stackexchange answer is right, you can just do #include <math.h>
https://stackoverflow.com/a/1727896
No need to #define anything or add_definitions as far as I can tell since we're targeting newer systems. I could be wrong, though.
There was a problem hiding this comment.
Ok great sounds good, I'll switch to that then. Will now close #1373
moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/multivariate_gaussian.h
Show resolved
Hide resolved
|
Closes #1373 |
* initial pass on removing boost * removing boost filesystem usage * removing boost and changing calls to work without boost * got everything to build and fixed locked robot state test * made thread joining safer * remove install and log * auto formatting * fixed clang format * changes solution callback empty check to work with std::function * removed unnecessary comment * removing unnecessary boost inclusions * changed comment * removing forward declarations * removed reliance on indirect includes * final changes, removing unnecessary boost includes from CMakeLists * removed now-unnecessary package * added direct includes * fixed formatting * added back mistakenly removed cmake command * removing unnecessary includes thanks to Abi's review * resolved rebase conflicts * updated std::optional usage * changing variant usage to be consistent with std * fixed outdated calls to boost * updating comments and adding/removing includes * added commit and removed comment * change to std asserts * removing unnecessary boost usage * removed boost regex * fixed bug in string tokenizing * re-adding boost serializer * further boost removal * switching to eigen * fixing std rng usage * removing unnecessary includes * re-adding removed include * removing more includes * removing more includes * removing unnecessary includes * removing unnecessary includes * switched back to boost version * sorting includes alphabetically * changing to cmath constants instead of boost constants Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
Description
As a folllow-on to #1331, this PR was made to break up the work to avoid necessitating too much review. This PR includes
replace boost::regex
replace boost::noncopyable
replace boost::lexical_cast
replace boost::optional
replace boost::thread_group
boost::regexboost::noncopyableboost::lexical_castboost::optionalboost::thread_groupSome remaining boost usage is there because there is no simple replacement in
std. There is also some that is still there because ROS itself uses boost and thus the moveit side must use boost instead of switching to std.Checklist