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Replace boost::array with std::array #567

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merged 1 commit into from Mar 4, 2020
Merged

Replace boost::array with std::array #567

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14 changes: 7 additions & 7 deletions swri_transform_util/include/swri_transform_util/transform_util.h
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Expand Up @@ -31,7 +31,7 @@
#define TRANSFORM_UTIL_TRANSFORM_UTIL_H_

#include <string>
#include <boost/array.hpp>
#include <array>

#include <tf2/transform_datatypes.h>
#include <tf2/LinearMath/Transform.h>
Expand Down Expand Up @@ -179,7 +179,7 @@ namespace swri_transform_util
*
* @returns The upper-left 3x3 sub-matrix.
*/
tf2::Matrix3x3 GetUpperLeft(const boost::array<double, 36>& matrix);
tf2::Matrix3x3 GetUpperLeft(const std::array<double, 36>& matrix);

/**
* Gets the lower-right 3x3 sub-matrix of a 6x6 matrix.
Expand All @@ -188,7 +188,7 @@ namespace swri_transform_util
*
* @returns The lower-right 3x3 sub-matrix.
*/
tf2::Matrix3x3 GetLowerRight(const boost::array<double, 36>& matrix);
tf2::Matrix3x3 GetLowerRight(const std::array<double, 36>& matrix);

/**
* Converts the 3x3 covariance matrices from Imu messages to a Matrix3x3
Expand All @@ -197,7 +197,7 @@ namespace swri_transform_util
*
* @retval Returns the input matrix as a Matrix3x3 object
*/
tf2::Matrix3x3 Get3x3Cov(const boost::array<double, 9>& matrix);
tf2::Matrix3x3 Get3x3Cov(const std::array<double, 9>& matrix);

/**
* Converts the Matrix3x3 matrix into a 9 element covariance matrix from Imu
Expand All @@ -208,7 +208,7 @@ namespace swri_transform_util
*
*/
void Set3x3Cov(const tf2::Matrix3x3& matrix_in,
boost::array<double, 9>& matrix_out);
std::array<double, 9>& matrix_out);
/**
* Sets the upper-left quadrant of a 6x6 matrix with the specified 3x3
* sub-matrix
Expand All @@ -218,7 +218,7 @@ namespace swri_transform_util
*/
void SetUpperLeft(
const tf2::Matrix3x3& sub_matrix,
boost::array<double, 36>& matrix);
std::array<double, 36>& matrix);

/**
* Sets the lower-right quadrant of a 6x6 matrix with the specified 3x3
Expand All @@ -229,7 +229,7 @@ namespace swri_transform_util
*/
void SetLowerRight(
const tf2::Matrix3x3& sub_matrix,
boost::array<double, 36>& matrix);
std::array<double, 36>& matrix);

/**
* Calculate the subtending angle of an arc (aligned with the
Expand Down
12 changes: 6 additions & 6 deletions swri_transform_util/src/transform_util.cpp
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Expand Up @@ -291,7 +291,7 @@ namespace swri_transform_util
return true;
}

tf2::Matrix3x3 GetUpperLeft(const boost::array<double, 36>& matrix)
tf2::Matrix3x3 GetUpperLeft(const std::array<double, 36>& matrix)
{
tf2::Matrix3x3 sub_matrix;

Expand All @@ -308,7 +308,7 @@ namespace swri_transform_util
return sub_matrix;
}

tf2::Matrix3x3 GetLowerRight(const boost::array<double, 36>& matrix)
tf2::Matrix3x3 GetLowerRight(const std::array<double, 36>& matrix)
{
tf2::Matrix3x3 sub_matrix;

Expand All @@ -325,7 +325,7 @@ namespace swri_transform_util
return sub_matrix;
}

tf2::Matrix3x3 Get3x3Cov(const boost::array<double, 9>& matrix)
tf2::Matrix3x3 Get3x3Cov(const std::array<double, 9>& matrix)
{
tf2::Matrix3x3 matrix_out;

Expand All @@ -344,7 +344,7 @@ namespace swri_transform_util

void Set3x3Cov(
const tf2::Matrix3x3& matrix_in,
boost::array<double, 9>& matrix_out)
std::array<double, 9>& matrix_out)
{
matrix_out[0] = matrix_in[0][0];
matrix_out[1] = matrix_in[0][1];
Expand All @@ -359,7 +359,7 @@ namespace swri_transform_util

void SetUpperLeft(
const tf2::Matrix3x3& sub_matrix,
boost::array<double, 36>& matrix)
std::array<double, 36>& matrix)
{
matrix[0] = sub_matrix[0][0];
matrix[1] = sub_matrix[0][1];
Expand All @@ -374,7 +374,7 @@ namespace swri_transform_util

void SetLowerRight(
const tf2::Matrix3x3& sub_matrix,
boost::array<double, 36>& matrix)
std::array<double, 36>& matrix)
{
matrix[21] = sub_matrix[0][0];
matrix[22] = sub_matrix[0][1];
Expand Down
4 changes: 2 additions & 2 deletions swri_transform_util/test/test_transform_util.cpp
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Expand Up @@ -29,7 +29,7 @@

#include <cstdlib>

#include <boost/array.hpp>
#include <array.hpp>

#include <gtest/gtest.h>

Expand Down Expand Up @@ -174,7 +174,7 @@ TEST(TransformUtilTests, TestUpperLeftLowerRight)
tf::Matrix3x3 ul(1, 2, 3, 4, 5, 6, 7, 8, 9);
tf::Matrix3x3 lr(10, 11, 12, 13, 14, 15, 16, 17, 18);

boost::array<double, 36> array;
std::array<double, 36> array;

swri_transform_util::SetUpperLeft(ul, array);
swri_transform_util::SetLowerRight(lr, array);
Expand Down