From fd56073349585a71f3e5bf1d4509f7eba3a673a4 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 16 Dec 2020 18:59:28 +0100
Subject: [PATCH] Reduce dependency to boost.
---
include/hpp/manipulation/fwd.hh | 46 ++---
.../hpp/manipulation/graph-path-validation.hh | 8 +-
include/hpp/manipulation/graph/fwd.hh | 24 +--
include/hpp/manipulation/graph/graph.hh | 2 +-
include/hpp/manipulation/graph/helper.hh | 12 +-
include/hpp/manipulation/graph/state.hh | 10 +-
include/hpp/manipulation/graph/statistics.hh | 2 +-
.../enforce-transition-semantic.hh | 2 +-
.../path-optimization/random-shortcut.hh | 2 +-
.../spline-gradient-based.hh | 2 +-
.../path-planner/end-effector-trajectory.hh | 4 +-
include/hpp/manipulation/serialization.hh | 2 +-
.../end-effector-trajectory.hh | 2 +-
.../hpp/manipulation/steering-method/fwd.hh | 4 +-
src/connected-component.cc | 2 +-
src/graph/edge.cc | 4 +-
src/graph/helper.cc | 161 +++++++++---------
src/handle.cc | 5 +-
src/manipulation-planner.cc | 36 ++--
src/path-planner/end-effector-trajectory.cc | 4 +-
src/problem-solver.cc | 32 ++--
src/problem.cc | 2 +-
.../cross-state-optimization.cc | 2 -
23 files changed, 181 insertions(+), 189 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 35e0ade..c7164d7 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -26,8 +26,8 @@
namespace hpp {
namespace manipulation {
HPP_PREDEF_CLASS (Device);
- typedef boost::shared_ptr <Device> DevicePtr_t;
- typedef boost::shared_ptr <const Device> DeviceConstPtr_t;
+ typedef shared_ptr <Device> DevicePtr_t;
+ typedef shared_ptr <const Device> DeviceConstPtr_t;
typedef pinocchio::Joint Joint;
typedef pinocchio::JointPtr_t JointPtr_t;
typedef pinocchio::JointIndex JointIndex;
@@ -43,33 +43,33 @@ namespace hpp {
typedef pinocchio::LiegroupSpace LiegroupSpace;
typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
HPP_PREDEF_CLASS (AxialHandle);
- typedef boost::shared_ptr <AxialHandle> AxialHandlePtr_t;
+ typedef shared_ptr <AxialHandle> AxialHandlePtr_t;
HPP_PREDEF_CLASS (Handle);
- typedef boost::shared_ptr <Handle> HandlePtr_t;
+ typedef shared_ptr <Handle> HandlePtr_t;
HPP_PREDEF_CLASS (Object);
- typedef boost::shared_ptr <Object> ObjectPtr_t;
- typedef boost::shared_ptr <const Object> ObjectConstPtr_t;
+ typedef shared_ptr <Object> ObjectPtr_t;
+ typedef shared_ptr <const Object> ObjectConstPtr_t;
HPP_PREDEF_CLASS (ProblemSolver);
typedef ProblemSolver* ProblemSolverPtr_t;
HPP_PREDEF_CLASS (Problem);
- typedef boost::shared_ptr <Problem> ProblemPtr_t;
- typedef boost::shared_ptr <const Problem> ProblemConstPtr_t;
+ typedef shared_ptr <Problem> ProblemPtr_t;
+ typedef shared_ptr <const Problem> ProblemConstPtr_t;
HPP_PREDEF_CLASS (Roadmap);
- typedef boost::shared_ptr <Roadmap> RoadmapPtr_t;
+ typedef shared_ptr <Roadmap> RoadmapPtr_t;
HPP_PREDEF_CLASS (RoadmapNode);
typedef RoadmapNode* RoadmapNodePtr_t;
typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
HPP_PREDEF_CLASS (ConnectedComponent);
- typedef boost::shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
+ typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
HPP_PREDEF_CLASS (LeafConnectedComp);
- typedef boost::shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
- typedef boost::shared_ptr<const LeafConnectedComp>
+ typedef shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
+ typedef shared_ptr<const LeafConnectedComp>
LeafConnectedCompConstPtr_t;
typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
HPP_PREDEF_CLASS (WeighedLeafConnectedComp);
- typedef boost::shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
+ typedef shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
HPP_PREDEF_CLASS (WeighedDistance);
- typedef boost::shared_ptr<WeighedDistance> WeighedDistancePtr_t;
+ typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
typedef constraints::RelativeOrientation RelativeOrientation;
typedef constraints::RelativePosition RelativePosition;
typedef constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t;
@@ -84,17 +84,17 @@ namespace hpp {
typedef core::vectorIn_t vectorIn_t;
typedef core::vectorOut_t vectorOut_t;
HPP_PREDEF_CLASS (ManipulationPlanner);
- typedef boost::shared_ptr < ManipulationPlanner > ManipulationPlannerPtr_t;
+ typedef shared_ptr < ManipulationPlanner > ManipulationPlannerPtr_t;
HPP_PREDEF_CLASS (GraphPathValidation);
- typedef boost::shared_ptr < GraphPathValidation > GraphPathValidationPtr_t;
+ typedef shared_ptr < GraphPathValidation > GraphPathValidationPtr_t;
HPP_PREDEF_CLASS (SteeringMethod);
- typedef boost::shared_ptr < SteeringMethod > SteeringMethodPtr_t;
+ typedef shared_ptr < SteeringMethod > SteeringMethodPtr_t;
typedef core::PathOptimizer PathOptimizer;
typedef core::PathOptimizerPtr_t PathOptimizerPtr_t;
HPP_PREDEF_CLASS (GraphOptimizer);
- typedef boost::shared_ptr < GraphOptimizer > GraphOptimizerPtr_t;
+ typedef shared_ptr < GraphOptimizer > GraphOptimizerPtr_t;
HPP_PREDEF_CLASS (GraphNodeOptimizer);
- typedef boost::shared_ptr < GraphNodeOptimizer > GraphNodeOptimizerPtr_t;
+ typedef shared_ptr < GraphNodeOptimizer > GraphNodeOptimizerPtr_t;
typedef core::PathProjectorPtr_t PathProjectorPtr_t;
typedef std::vector <pinocchio::DevicePtr_t> Devices_t;
@@ -110,7 +110,7 @@ namespace hpp {
typedef core::ConfigProjector ConfigProjector;
typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
HPP_PREDEF_CLASS (ConstraintSet);
- typedef boost::shared_ptr <ConstraintSet> ConstraintSetPtr_t;
+ typedef shared_ptr <ConstraintSet> ConstraintSetPtr_t;
typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
typedef core::ConfigurationShooter ConfigurationShooter;
typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
@@ -134,14 +134,14 @@ namespace hpp {
namespace pathOptimization {
HPP_PREDEF_CLASS (SmallSteps);
- typedef boost::shared_ptr < SmallSteps > SmallStepsPtr_t;
+ typedef shared_ptr < SmallSteps > SmallStepsPtr_t;
HPP_PREDEF_CLASS (Keypoints);
- typedef boost::shared_ptr < Keypoints > KeypointsPtr_t;
+ typedef shared_ptr < Keypoints > KeypointsPtr_t;
} // namespace pathOptimization
namespace problemTarget {
HPP_PREDEF_CLASS (State);
- typedef boost::shared_ptr < State > StatePtr_t;
+ typedef shared_ptr < State > StatePtr_t;
} // namespace problemTarget
} // namespace manipulation
} // namespace hpp
diff --git a/include/hpp/manipulation/graph-path-validation.hh b/include/hpp/manipulation/graph-path-validation.hh
index 9bfe494..ef36ad7 100644
--- a/include/hpp/manipulation/graph-path-validation.hh
+++ b/include/hpp/manipulation/graph-path-validation.hh
@@ -105,7 +105,7 @@ namespace hpp {
/// hpp::core::ObstacleUserInterface::addObstacle in case of success.
void addObstacle (const hpp::core::CollisionObjectConstPtr_t& object)
{
- boost::shared_ptr<core::ObstacleUserInterface> oui =
+ shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
if (oui) oui->addObstacle (object);
}
@@ -119,7 +119,7 @@ namespace hpp {
void removeObstacleFromJoint (const JointPtr_t& joint,
const pinocchio::CollisionObjectConstPtr_t& obstacle)
{
- boost::shared_ptr<core::ObstacleUserInterface> oui =
+ shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
if (oui) oui->removeObstacleFromJoint (joint, obstacle);
}
@@ -132,7 +132,7 @@ namespace hpp {
/// success.
void filterCollisionPairs (const core::RelativeMotion::matrix_type& relMotion)
{
- boost::shared_ptr<core::ObstacleUserInterface> oui =
+ shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
if (oui) oui->filterCollisionPairs (relMotion);
}
@@ -145,7 +145,7 @@ namespace hpp {
/// success.
void setSecurityMargins(const matrix_t& securityMargins)
{
- boost::shared_ptr<core::ObstacleUserInterface> oui =
+ shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
if (oui) oui->setSecurityMargins(securityMargins);
}
diff --git a/include/hpp/manipulation/graph/fwd.hh b/include/hpp/manipulation/graph/fwd.hh
index 5806bde..ff6cdd5 100644
--- a/include/hpp/manipulation/graph/fwd.hh
+++ b/include/hpp/manipulation/graph/fwd.hh
@@ -32,15 +32,15 @@ namespace hpp {
HPP_PREDEF_CLASS (StateSelector);
HPP_PREDEF_CLASS (GraphComponent);
HPP_PREDEF_CLASS (GuidedStateSelector);
- typedef boost::shared_ptr < Graph > GraphPtr_t;
- typedef boost::shared_ptr < State > StatePtr_t;
- typedef boost::shared_ptr < Edge > EdgePtr_t;
- typedef boost::shared_ptr < WaypointEdge > WaypointEdgePtr_t;
- typedef boost::shared_ptr < LevelSetEdge > LevelSetEdgePtr_t;
- typedef boost::shared_ptr < StateSelector > StateSelectorPtr_t;
- typedef boost::shared_ptr < GuidedStateSelector >
+ typedef shared_ptr < Graph > GraphPtr_t;
+ typedef shared_ptr < State > StatePtr_t;
+ typedef shared_ptr < Edge > EdgePtr_t;
+ typedef shared_ptr < WaypointEdge > WaypointEdgePtr_t;
+ typedef shared_ptr < LevelSetEdge > LevelSetEdgePtr_t;
+ typedef shared_ptr < StateSelector > StateSelectorPtr_t;
+ typedef shared_ptr < GuidedStateSelector >
GuidedStateSelectorPtr_t;
- typedef boost::shared_ptr < GraphComponent > GraphComponentPtr_t;
+ typedef shared_ptr < GraphComponent > GraphComponentPtr_t;
typedef std::vector < GraphComponentWkPtr_t > GraphComponents_t;
typedef std::vector < StatePtr_t > States_t;
typedef std::vector < EdgePtr_t > Edges_t;
@@ -56,13 +56,13 @@ namespace hpp {
class Histogram;
class StateHistogram;
class LeafHistogram;
- typedef boost::shared_ptr <Histogram> HistogramPtr_t;
- typedef boost::shared_ptr <StateHistogram> StateHistogramPtr_t;
- typedef boost::shared_ptr <LeafHistogram> LeafHistogramPtr_t;
+ typedef shared_ptr <Histogram> HistogramPtr_t;
+ typedef shared_ptr <StateHistogram> StateHistogramPtr_t;
+ typedef shared_ptr <LeafHistogram> LeafHistogramPtr_t;
typedef std::list < HistogramPtr_t > Histograms_t;
class Validation;
- typedef boost::shared_ptr < Validation > ValidationPtr_t;
+ typedef shared_ptr < Validation > ValidationPtr_t;
} // namespace graph
} // namespace manipulation
} // namespace hpp
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index ade3266..8bd7099 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -17,7 +17,7 @@
#ifndef HPP_MANIPULATION_GRAPH_GRAPH_HH
# define HPP_MANIPULATION_GRAPH_GRAPH_HH
-# include <boost/tuple/tuple.hpp>
+# include <tuple>
# include "hpp/manipulation/config.hh"
# include "hpp/manipulation/constraint-set.hh"
# include "hpp/manipulation/fwd.hh"
diff --git a/include/hpp/manipulation/graph/helper.hh b/include/hpp/manipulation/graph/helper.hh
index 381c57f..339024f 100644
--- a/include/hpp/manipulation/graph/helper.hh
+++ b/include/hpp/manipulation/graph/helper.hh
@@ -20,7 +20,7 @@
# include <string>
# include <algorithm>
-# include <boost/tuple/tuple.hpp>
+# include <tuple>
# include "hpp/manipulation/config.hh"
# include "hpp/manipulation/fwd.hh"
@@ -165,10 +165,10 @@ namespace hpp {
const LockedJoints_t objectLocks,
FoliatedManifold& place, FoliatedManifold& preplace);
- typedef boost::tuple <ImplicitPtr_t,
- ImplicitPtr_t,
- LockedJoints_t>
- PlacementConstraint_t;
+ typedef std::tuple <ImplicitPtr_t,
+ ImplicitPtr_t,
+ LockedJoints_t>
+ PlacementConstraint_t;
typedef std::vector <HandlePtr_t> Handles_t;
typedef std::vector <GripperPtr_t> Grippers_t;
/// Tuple representing an object as follows:
@@ -176,7 +176,7 @@ namespace hpp {
/// \li Handles_t list of handles of the object
/// \li std::size_t the index of this tuple in Objects_t.
/// \note the index must be unique, as object equallity is checked using this index.
- typedef boost::tuple <PlacementConstraint_t, Handles_t, std::size_t> Object_t;
+ typedef std::tuple <PlacementConstraint_t, Handles_t, std::size_t> Object_t;
typedef std::vector <Object_t> Objects_t;
/// Fill a Graph
diff --git a/include/hpp/manipulation/graph/state.hh b/include/hpp/manipulation/graph/state.hh
index 916326c..01fc664 100644
--- a/include/hpp/manipulation/graph/state.hh
+++ b/include/hpp/manipulation/graph/state.hh
@@ -17,7 +17,7 @@
#ifndef HPP_MANIPULATION_GRAPH_STATE_HH
# define HPP_MANIPULATION_GRAPH_STATE_HH
-# include <boost/function.hpp>
+#include <functional>
#include <hpp/core/constraint-set.hh>
#include <hpp/core/config-projector.hh>
@@ -44,10 +44,10 @@ namespace hpp {
class HPP_MANIPULATION_DLLAPI State : public GraphComponent
{
public:
- typedef boost::function < EdgePtr_t
- (const std::string&,
- const GraphWkPtr_t&,
- const StateWkPtr_t&, const StateWkPtr_t&) >
+ typedef std::function < EdgePtr_t
+ (const std::string&,
+ const GraphWkPtr_t&,
+ const StateWkPtr_t&, const StateWkPtr_t&) >
EdgeFactory;
/// Destructor
~State ();
diff --git a/include/hpp/manipulation/graph/statistics.hh b/include/hpp/manipulation/graph/statistics.hh
index 6c3a8ba..13aaffb 100644
--- a/include/hpp/manipulation/graph/statistics.hh
+++ b/include/hpp/manipulation/graph/statistics.hh
@@ -198,7 +198,7 @@ namespace hpp {
graph::GraphPtr_t graph_;
};
typedef StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED;
- typedef boost::shared_ptr <StateHistogram> NodeHistogramPtr_t;
+ typedef shared_ptr <StateHistogram> NodeHistogramPtr_t;
} // namespace graph
} // namespace manipulation
} // namespace hpp
diff --git a/include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh b/include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh
index f50da1b..570e0d6 100644
--- a/include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh
+++ b/include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh
@@ -34,7 +34,7 @@ namespace hpp {
{
public:
typedef hpp::core::PathVectorPtr_t PathVectorPtr_t;
- typedef boost::shared_ptr<EnforceTransitionSemantic> Ptr_t;
+ typedef shared_ptr<EnforceTransitionSemantic> Ptr_t;
static Ptr_t create (const core::ProblemConstPtr_t& problem) {
ProblemConstPtr_t p (HPP_DYNAMIC_PTR_CAST(const Problem, problem));
diff --git a/include/hpp/manipulation/path-optimization/random-shortcut.hh b/include/hpp/manipulation/path-optimization/random-shortcut.hh
index b95767f..45e1088 100644
--- a/include/hpp/manipulation/path-optimization/random-shortcut.hh
+++ b/include/hpp/manipulation/path-optimization/random-shortcut.hh
@@ -28,7 +28,7 @@ namespace hpp {
/// \{
namespace pathOptimization {
HPP_PREDEF_CLASS (RandomShortcut);
- typedef boost::shared_ptr<RandomShortcut> RandomShortcutPtr_t;
+ typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t;
class HPP_MANIPULATION_DLLAPI RandomShortcut :
public core::pathOptimization::RandomShortcut
diff --git a/include/hpp/manipulation/path-optimization/spline-gradient-based.hh b/include/hpp/manipulation/path-optimization/spline-gradient-based.hh
index 6af8561..6be91d5 100644
--- a/include/hpp/manipulation/path-optimization/spline-gradient-based.hh
+++ b/include/hpp/manipulation/path-optimization/spline-gradient-based.hh
@@ -38,7 +38,7 @@ namespace hpp {
};
typedef core::pathOptimization::SplineGradientBased<PolynomeBasis, SplineOrder>
Parent_t;
- typedef boost::shared_ptr<SplineGradientBased> Ptr_t;
+ typedef shared_ptr<SplineGradientBased> Ptr_t;
using typename Parent_t::Spline;
using typename Parent_t::SplinePtr_t;
diff --git a/include/hpp/manipulation/path-planner/end-effector-trajectory.hh b/include/hpp/manipulation/path-planner/end-effector-trajectory.hh
index 133601a..c4f2a24 100644
--- a/include/hpp/manipulation/path-planner/end-effector-trajectory.hh
+++ b/include/hpp/manipulation/path-planner/end-effector-trajectory.hh
@@ -43,10 +43,10 @@ namespace hpp {
protected:
virtual Configurations_t impl_solve (vectorIn_t target) = 0;
};
- typedef boost::shared_ptr<IkSolverInitialization> IkSolverInitializationPtr_t;
+ typedef shared_ptr<IkSolverInitialization> IkSolverInitializationPtr_t;
HPP_PREDEF_CLASS (EndEffectorTrajectory);
- typedef boost::shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
+ typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
class HPP_MANIPULATION_DLLAPI EndEffectorTrajectory : public core::PathPlanner
{
diff --git a/include/hpp/manipulation/serialization.hh b/include/hpp/manipulation/serialization.hh
index cfb1835..568562d 100644
--- a/include/hpp/manipulation/serialization.hh
+++ b/include/hpp/manipulation/serialization.hh
@@ -44,7 +44,7 @@ manipulation::graph::GraphPtr_t getGraphFromArchive(Archive& ar, const std::stri
}
template<class Archive, class GraphCompT>
-inline void serializeGraphComponent(Archive & ar, boost::shared_ptr<GraphCompT>& c, const unsigned int version)
+inline void serializeGraphComponent(Archive & ar, shared_ptr<GraphCompT>& c, const unsigned int version)
{
(void) version;
diff --git a/include/hpp/manipulation/steering-method/end-effector-trajectory.hh b/include/hpp/manipulation/steering-method/end-effector-trajectory.hh
index 542b8f9..73b3052 100644
--- a/include/hpp/manipulation/steering-method/end-effector-trajectory.hh
+++ b/include/hpp/manipulation/steering-method/end-effector-trajectory.hh
@@ -28,7 +28,7 @@ namespace hpp {
/// \{
namespace steeringMethod {
HPP_PREDEF_CLASS (EndEffectorTrajectory);
- typedef boost::shared_ptr < EndEffectorTrajectory > EndEffectorTrajectoryPtr_t;
+ typedef shared_ptr < EndEffectorTrajectory > EndEffectorTrajectoryPtr_t;
using core::PathPtr_t;
diff --git a/include/hpp/manipulation/steering-method/fwd.hh b/include/hpp/manipulation/steering-method/fwd.hh
index 467557d..e3b6626 100644
--- a/include/hpp/manipulation/steering-method/fwd.hh
+++ b/include/hpp/manipulation/steering-method/fwd.hh
@@ -27,9 +27,9 @@ namespace hpp {
namespace manipulation {
namespace steeringMethod {
HPP_PREDEF_CLASS (Graph);
- typedef boost::shared_ptr < Graph > GraphPtr_t;
+ typedef shared_ptr < Graph > GraphPtr_t;
HPP_PREDEF_CLASS (CrossStateOptimization);
- typedef boost::shared_ptr < CrossStateOptimization > CrossStateOptimizationPtr_t;
+ typedef shared_ptr < CrossStateOptimization > CrossStateOptimizationPtr_t;
} // namespace steeringMethod
} // namespace manipulation
} // namespace hpp
diff --git a/src/connected-component.cc b/src/connected-component.cc
index ce7e0fd..bf12490 100644
--- a/src/connected-component.cc
+++ b/src/connected-component.cc
@@ -59,7 +59,7 @@ namespace hpp {
void ConnectedComponent::merge (const core::ConnectedComponentPtr_t& otherCC)
{
core::ConnectedComponent::merge(otherCC);
- const ConnectedComponentPtr_t other = boost::static_pointer_cast <ConnectedComponent> (otherCC);
+ const ConnectedComponentPtr_t other = static_pointer_cast <ConnectedComponent> (otherCC);
/// take all graph states in other->graphStateMap_ and put them in this->graphStateMap_
/// if they already exist in this->graphStateMap_, append roadmap nodes from other graph state
/// to graph state in this.
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index e026a1d..6012044 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -63,7 +63,7 @@ namespace hpp {
void Edge::relativeMotion(const RelativeMotion::matrix_type & m)
{
if(!isInit_) throw std::logic_error("The graph must be initialized before changing the relative motion matrix.");
- boost::shared_ptr<core::ObstacleUserInterface> oui =
+ shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
if (oui) oui->filterCollisionPairs(m);
relMotion_ = m;
@@ -334,7 +334,7 @@ namespace hpp {
// TODO this path validation will not contain obstacles added after
// its creation.
pathValidation_ = problem->pathValidationFactory ();
- boost::shared_ptr<core::ObstacleUserInterface> oui =
+ shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
if (oui) {
relMotion_ = RelativeMotion::matrix (g->robot());
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index ecd245b..3c1ae35 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -19,10 +19,10 @@
#include <tr1/unordered_map>
#include <tr1/unordered_set>
-#include <boost/array.hpp>
+#include <iterator>
+#include <array>
+
#include <boost/regex.hpp>
-#include <boost/foreach.hpp>
-#include <boost/assign/list_of.hpp>
#include <pinocchio/multibody/model.hpp>
@@ -121,8 +121,8 @@ namespace hpp {
static const std::size_t Nedges = 1 + nbWaypoints;
// static const std::size_t iNpregrasp = pregrasp?1 + 1:nbWaypoints;
// static const std::size_t iNpreplace = pregrasp?1 + 1:nbWaypoints;
- typedef boost::array <StatePtr_t, Nstates> StateArray;
- typedef boost::array <EdgePtr_t, Nedges> EdgeArray;
+ typedef std::array <StatePtr_t, Nstates> StateArray;
+ typedef std::array <EdgePtr_t, Nedges> EdgeArray;
static inline const StatePtr_t& Npregrasp (const StateArray& n) { assert (pregrasp); return n[1]; }
static inline const StatePtr_t& Nintersec (const StateArray& n) { assert (intersec); return n[1 + (pregrasp?1:0)]; }
@@ -145,7 +145,7 @@ namespace hpp {
const size_type& w)
{
if (Nedges > 1) {
- WaypointEdgePtr_t we = boost::static_pointer_cast <WaypointEdge>
+ WaypointEdgePtr_t we = static_pointer_cast <WaypointEdge>
(from->linkTo (name, to, w, WaypointEdge::create));
we->nbWaypoints (nbWaypoints);
return we;
@@ -179,7 +179,7 @@ namespace hpp {
{
if (Nedges > 1) {
const std::size_t T = (pregrasp?1:0) + (intersec?1:0);
- WaypointEdgePtr_t we = boost::static_pointer_cast <WaypointEdge>
+ WaypointEdgePtr_t we = static_pointer_cast <WaypointEdge>
(n.front()->linkTo (name + "_ls", n.back(), w,
WaypointEdge::create));
we->nbWaypoints (nbWaypoints);
@@ -193,7 +193,7 @@ namespace hpp {
} else {
assert (gCase == (GraspOnly | NoPlace)
&& "Cannot implement a LevelSetEdge for grasping");
- gls = boost::static_pointer_cast <LevelSetEdge>
+ gls = static_pointer_cast <LevelSetEdge>
(n.front()->linkTo (name + "_ls", n.back(), w,
LevelSetEdge::create));
return gls;
@@ -206,7 +206,7 @@ namespace hpp {
{
if (Nedges > 1) {
const std::size_t T = (pregrasp?1:0) + (intersec?1:0);
- WaypointEdgePtr_t we = boost::static_pointer_cast <WaypointEdge>
+ WaypointEdgePtr_t we = static_pointer_cast <WaypointEdge>
(n.back()->linkTo (name + "_ls", n.front(), w,
WaypointEdge::create));
we->nbWaypoints (nbWaypoints);
@@ -223,7 +223,7 @@ namespace hpp {
} else {
assert (gCase == (NoGrasp | PlaceOnly)
&& "Cannot implement a LevelSetEdge for placement");
- pls = boost::static_pointer_cast <LevelSetEdge>
+ pls = static_pointer_cast <LevelSetEdge>
(n.back()->linkTo (name + "_ls", n.front(), w,
LevelSetEdge::create));
return pls;
@@ -231,7 +231,7 @@ namespace hpp {
}
template <typename EdgeType>
- static inline boost::shared_ptr<EdgeType> linkWaypoint (
+ static inline shared_ptr<EdgeType> linkWaypoint (
const StateArray& states,
const std::size_t& iF, const std::size_t& iT,
const std::string& prefix,
@@ -240,7 +240,7 @@ namespace hpp {
std::stringstream ss;
ss << prefix << "_" << iF << iT;
if (suffix.length () > 0) ss << "_" << suffix;
- return boost::static_pointer_cast <EdgeType>
+ return static_pointer_cast <EdgeType>
(states[iF]->linkTo (ss.str(), states[iT], -1, EdgeType::create));
}
@@ -376,7 +376,7 @@ namespace hpp {
if (levelSetPlace)
weBackLs = T::makeLSEplace (name, n, eB, 10*wBack, pls);
- Edges_t ret = boost::assign::list_of (weForw)(weBack);
+ Edges_t ret { weForw, weBack };
if (levelSetPlace) {
if (!place.foliated ()) {
@@ -517,9 +517,7 @@ namespace hpp {
typedef std::vector <index_t> IndexV_t;
typedef std::list <index_t> IndexL_t;
typedef std::pair <index_t, index_t> Grasp_t;
- typedef boost::tuple <StatePtr_t,
- FoliatedManifold>
- StateAndManifold_t;
+ typedef std::tuple <StatePtr_t, FoliatedManifold> StateAndManifold_t;
//typedef std::vector <index_t, index_t> GraspV_t;
/// GraspV_t corresponds to a unique ID of a permutation.
/// - its size is the number of grippers,
@@ -565,7 +563,7 @@ namespace hpp {
}
};
std::tr1::unordered_set<edgeid_type, edgeid_hash> edges;
- std::vector< boost::array<ImplicitPtr_t,3> > graspCs;
+ std::vector< std::array<ImplicitPtr_t,3> > graspCs;
index_t nG, nOH;
GraspV_t dims;
const Grippers_t& gs;
@@ -578,11 +576,10 @@ namespace hpp {
ps (problem), graph (g), nG (grippers.size ()), nOH (0), gs (grippers), ohs (objects),
defaultAcceptationPolicy (CompiledRule::Refuse)
{
- BOOST_FOREACH (const Object_t& o, objects) {
- nOH += o.get<1>().size();
- BOOST_FOREACH (const HandlePtr_t& h, o.get<1>()) {
+ for (const Object_t& o : objects) {
+ nOH += std::get<1>(o).size();
+ for (const HandlePtr_t& h : std::get<1>(o))
handleNames.push_back(h->name());
- }
}
handleNames.push_back("");
dims.resize (nG);
@@ -647,10 +644,10 @@ namespace hpp {
edges.insert(edgeid_type(stateid(g1), stateid(g2)));
}
- inline boost::array<ImplicitPtr_t,3>& graspConstraint (
+ inline std::array<ImplicitPtr_t,3>& graspConstraint (
const index_t& iG, const index_t& iOH)
{
- boost::array<ImplicitPtr_t,3>& gcs =
+ std::array<ImplicitPtr_t,3>& gcs =
graspCs [iG * nOH + iOH];
if (!gcs[0]) {
hppDout (info, "Create grasps constraints for ("
@@ -674,18 +671,18 @@ namespace hpp {
const Object_t& object (const index_t& iOH) const {
index_t iH = iOH;
- BOOST_FOREACH (const Object_t& o, ohs) {
- if (iH < o.get<1>().size()) return o;
- iH -= o.get<1>().size();
+ for (const Object_t& o : ohs) {
+ if (iH < std::get<1>(o).size()) return o;
+ iH -= std::get<1>(o).size();
}
throw std::out_of_range ("Handle index");
}
const HandlePtr_t& handle (const index_t& iOH) const {
index_t iH = iOH;
- BOOST_FOREACH (const Object_t& o, ohs) {
- if (iH < o.get<1>().size()) return o.get<1>()[iH];
- iH -= o.get<1>().size();
+ for (const Object_t& o : ohs) {
+ if (iH < std::get<1>(o).size()) return std::get<1>(o)[iH];
+ iH -= std::get<1>(o).size();
}
throw std::out_of_range ("Handle index");
}
@@ -694,7 +691,7 @@ namespace hpp {
bool objectCanBePlaced (const Object_t& o) const
{
// If the object has no joint, then it cannot be placed.
- return (o.get<0>().get<2>().size() > 0);
+ return (std::get<2>(std::get<0>(o)).size() > 0);
}
/// Check is an object is grasped by the GraspV_t
@@ -704,7 +701,7 @@ namespace hpp {
assert (idxOH.size () == nG);
for (std::size_t i = 0; i < idxOH.size (); ++i)
if (idxOH[i] < nOH) // This grippers grasps an object
- if (o.get<2>() == object(idxOH[i]).get<2>())
+ if (std::get<2>(o) == std::get<2>(object(idxOH[i])))
return true;
return false;
}
@@ -753,7 +750,7 @@ namespace hpp {
void graspManifold (const index_t& iG, const index_t& iOH,
FoliatedManifold& grasp, FoliatedManifold& pregrasp)
{
- boost::array<ImplicitPtr_t,3>& gcs
+ std::array<ImplicitPtr_t,3>& gcs
= graspConstraint (iG, iOH);
grasp.nc.nc.push_back (gcs[0]);
grasp.nc.pdof.push_back (segments_t ());
@@ -791,9 +788,9 @@ namespace hpp {
const int priority)
{
StateAndManifold_t& nam = r (g);
- if (!nam.get<0>()) {
+ if (!std::get<0>(nam)) {
hppDout (info, "Creating state " << r.name (g));
- nam.get<0>() = r.graph->stateSelector ()->createState
+ std::get<0>(nam) = r.graph->stateSelector ()->createState
(r.name (g), false, priority);
// Loop over the grippers and create grasping constraints if required
FoliatedManifold unused;
@@ -801,32 +798,34 @@ namespace hpp {
for (index_t i = 0; i < r.nG; ++i) {
if (g[i] < r.nOH) {
idxsOH.insert (g[i]);
- r.graspManifold (i, g[i], nam.get<1>(), unused);
+ r.graspManifold (i, g[i], std::get<1>(nam), unused);
}
}
index_t iOH = 0;
- BOOST_FOREACH (const Object_t& o, r.ohs) {
+ for (const Object_t& o : r.ohs) {
if (!r.objectCanBePlaced(o)) continue;
bool oIsGrasped = false;
// TODO: use the fact that the set is sorted.
- // BOOST_FOREACH (const HandlePtr_t& h, o.get<1>())
- for (index_t i = 0; i < o.get<1>().size(); ++i) {
+ // for (const HandlePtr_t& h : std::get<0>(o))
+ for (index_t i = 0; i < std::get<1>(o).size(); ++i) {
if (idxsOH.erase (iOH) == 1) oIsGrasped = true;
++iOH;
}
- if (!oIsGrasped)
- relaxedPlacementManifold (o.get<0>().get<0>(),
- o.get<0>().get<1>(),
- o.get<0>().get<2>(),
- nam.get<1>(), unused);
+ if (!oIsGrasped) {
+ const auto& pc (std::get<0>(o));
+ relaxedPlacementManifold (std::get<0>(pc),
+ std::get<1>(pc),
+ std::get<2>(pc),
+ std::get<1>(nam), unused);
+ }
}
- nam.get<1>().addToState (nam.get<0>());
+ std::get<1>(nam).addToState (std::get<0>(nam));
createLoopEdge (r.nameLoopEdge (g),
- nam.get<0>(), 0,
+ std::get<0>(nam), 0,
false,
- // TODO nam.get<1>().foliated(),
- nam.get<1>());
+ // TODO std::get<1>(nam).foliated(),
+ std::get<1>(nam));
}
return nam;
}
@@ -856,9 +855,10 @@ namespace hpp {
submanifold;
r.graspManifold (iG, gTo[iG], grasp, pregrasp);
if (!noPlace) {
- relaxedPlacementManifold (o.get<0>().get<0>(),
- o.get<0>().get<1>(),
- o.get<0>().get<2>(),
+ const auto& pc (std::get<0>(o));
+ relaxedPlacementManifold (std::get<0>(pc),
+ std::get<1>(pc),
+ std::get<2>(pc),
place, preplace);
}
std::pair<std::string, std::string> names =
@@ -873,30 +873,32 @@ namespace hpp {
}
}
index_t iOH = 0;
- BOOST_FOREACH (const Object_t& o, r.ohs) {
+ for (const Object_t& o : r.ohs) {
if (!r.objectCanBePlaced(o)) continue;
bool oIsGrasped = false;
const index_t iOHstart = iOH;
- for (; iOH < iOHstart + o.get<1>().size(); ++iOH) {
+ for (; iOH < iOHstart + std::get<1>(o).size(); ++iOH) {
if (iOH == gTo [iG]) {
oIsGrasped = true;
- iOH = iOHstart + o.get<1>().size();
+ iOH = iOHstart + std::get<1>(o).size();
break;
}
if (idxsOH.erase (iOH) == 1) oIsGrasped = true;
}
- if (!oIsGrasped)
- relaxedPlacementManifold (o.get<0>().get<0>(),
- o.get<0>().get<1>(),
- o.get<0>().get<2>(),
+ if (!oIsGrasped) {
+ const auto& pc (std::get<0>(o));
+ relaxedPlacementManifold (std::get<0>(pc),
+ std::get<1>(pc),
+ std::get<2>(pc),
submanifold, unused);
+ }
}
}
if (pregrasp.empty ()) {
if (noPlace)
createEdges <GraspOnly | NoPlace> (
names.first , names.second,
- from.get<0> () , to.get<0>(),
+ std::get<0>(from) , std::get<0>(to),
1 , 1,
grasp , pregrasp,
place , preplace,
@@ -905,7 +907,7 @@ namespace hpp {
else if (preplace.empty ())
createEdges <GraspOnly | PlaceOnly> (
names.first , names.second,
- from.get<0> () , to.get<0>(),
+ std::get<0>(from) , std::get<0>(to),
1 , 1,
grasp , pregrasp,
place , preplace,
@@ -916,7 +918,7 @@ namespace hpp {
/*
createEdges <GraspOnly | WithPrePlace> (
names.first , names.second,
- from.get<0> () , to.get<0>(),
+ std::get<0>(from) , std::get<0>(to),
1 , 1,
grasp , pregrasp,
place , preplace,
@@ -927,7 +929,7 @@ namespace hpp {
if (noPlace)
createEdges <WithPreGrasp | NoPlace> (
names.first , names.second,
- from.get<0> () , to.get<0>(),
+ std::get<0>(from) , std::get<0>(to),
1 , 1,
grasp , pregrasp,
place , preplace,
@@ -936,7 +938,7 @@ namespace hpp {
else if (preplace.empty ())
createEdges <WithPreGrasp | PlaceOnly> (
names.first , names.second,
- from.get<0> () , to.get<0>(),
+ std::get<0>(from) , std::get<0>(to),
1 , 1,
grasp , pregrasp,
place , preplace,
@@ -945,7 +947,7 @@ namespace hpp {
else
createEdges <WithPreGrasp | WithPrePlace> (
names.first , names.second,
- from.get<0> () , to.get<0>(),
+ std::get<0>(from) , std::get<0>(to),
1 , 1,
grasp , pregrasp,
place , preplace,
@@ -969,7 +971,7 @@ namespace hpp {
for (IndexV_t::const_iterator itx_g = idx_g.begin ();
itx_g != idx_g.end (); ++itx_g) {
// Copy all element except itx_g
- std::copy (boost::next (itx_g), idx_g.end (),
+ std::copy (std::next (itx_g), idx_g.end (),
std::copy (idx_g.begin (), itx_g, nIdx_g.begin ())
);
for (IndexV_t::const_iterator itx_oh = idx_oh.begin ();
@@ -985,7 +987,7 @@ namespace hpp {
makeEdge (r, grasps, nGrasps, *itx_g, depth);
// Copy all element except itx_oh
- std::copy (boost::next (itx_oh), idx_oh.end (),
+ std::copy (std::next (itx_oh), idx_oh.end (),
std::copy (idx_oh.begin (), itx_oh, nIdx_oh.begin ())
);
// Do all the possible combination below this new grasp
@@ -1037,7 +1039,7 @@ namespace hpp {
const pinocchio::Model& model = robot.model();
Grippers_t grippers (griNames.size());
index_t i = 0;
- BOOST_FOREACH (const std::string& gn, griNames) {
+ for (const std::string& gn : griNames) {
grippers[i] = robot.grippers.get (gn);
++i;
}
@@ -1045,12 +1047,12 @@ namespace hpp {
i = 0;
const value_type margin = 1e-3;
bool prePlace = (prePlaceWidth > 0);
- BOOST_FOREACH (const ObjectDef_t& od, objs) {
+ for (const ObjectDef_t& od : objs) {
// Create handles
- objects[i].get<2> () = i;
- objects[i].get<1> ().resize (od.handles.size());
- Handles_t::iterator it = objects[i].get<1> ().begin();
- BOOST_FOREACH (const std::string hn, od.handles) {
+ std::get<2>(objects[i]) = i;
+ std::get<1>(objects[i]).resize (od.handles.size());
+ Handles_t::iterator it = std::get<1>(objects[i]).begin();
+ for (const std::string hn : od.handles) {
*it = robot.handles.get (hn);
++it;
}
@@ -1064,30 +1066,27 @@ namespace hpp {
// else if contact surfaces are defined and selected
// create default placement constraint using the ProblemSolver
// methods createPlacementConstraint and createPrePlacementConstraint
+ auto& pc (std::get<0>(objects[i]));
if (ps->numericalConstraints.has(placeN)) {
- objects[i].get<0> ().get<0> () =
- ps->numericalConstraints.get (placeN);
+ std::get<0>(pc) = ps->numericalConstraints.get (placeN);
if (ps->numericalConstraints.has(preplaceN)) {
- objects[i].get<0> ().get<1> () =
- ps->numericalConstraints.get (preplaceN);
+ std::get<1>(pc) = ps->numericalConstraints.get (preplaceN);
}
} else if (!envNames.empty() && !od.shapes.empty ()) {
ps->createPlacementConstraint (placeN,
od.shapes, envNames, margin);
- objects[i].get<0> ().get<0> () =
- ps->numericalConstraints.get (placeN);
+ std::get<0>(pc) = ps->numericalConstraints.get (placeN);
if (prePlace) {
ps->createPrePlacementConstraint (preplaceN,
od.shapes, envNames, margin, prePlaceWidth);
- objects[i].get<0> ().get<1> () =
- ps->numericalConstraints.get (preplaceN);
+ std::get<1>(pc) = ps->numericalConstraints.get (preplaceN);
}
}
// Create object lock
// Loop over all frames of object, detect joint and create locked
// joint.
assert (robot.robotFrames (od.name).size () != 0);
- BOOST_FOREACH (const FrameIndex& f, robot.robotFrames (od.name)) {
+ for (const FrameIndex& f : robot.robotFrames (od.name)) {
if (model.frames[f].type != ::pinocchio::JOINT) continue;
const JointIndex j = model.frames[f].parent;
JointPtr_t oj (Joint::create (ps->robot(), j));
@@ -1097,7 +1096,7 @@ namespace hpp {
oj->configSize ()), space);
LockedJointPtr_t lj = core::LockedJoint::create (oj, lge);
ps->numericalConstraints.add ("lock_" + oj->name (), lj);
- objects[i].get<0> ().get<2> ().push_back (lj);
+ std::get<2>(pc).push_back (lj);
}
++i;
}
diff --git a/src/handle.cc b/src/handle.cc
index fe5c917..945e584 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -19,8 +19,6 @@
#include <hpp/manipulation/handle.hh>
-#include <boost/assign/list_of.hpp>
-
#include <pinocchio/multibody/joint/joint-generic.hpp>
#include <hpp/util/debug.hh>
@@ -149,7 +147,7 @@ namespace hpp {
core::DevicePtr_t r = robot();
if (is6Dmask(mask_)) {
return Implicit::create (
- boost::shared_ptr <ZeroDiffFunc> (new ZeroDiffFunc (
+ shared_ptr <ZeroDiffFunc> (new ZeroDiffFunc (
r->configSize(), r->numberDof (), n)), ComparisonTypes_t());
} else {
std::vector<bool> Cmask = complementMask(mask_);
@@ -164,7 +162,6 @@ namespace hpp {
ImplicitPtr_t Handle::createGraspAndComplement
(const GripperPtr_t& gripper, std::string n) const
{
- using boost::assign::list_of;
using core::ExplicitRelativeTransformation;
if (n.empty()) {
n = gripper->name() + "_holds_" + name();
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 33f432d..212c584 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -16,8 +16,8 @@
#include "hpp/manipulation/manipulation-planner.hh"
-#include <boost/tuple/tuple.hpp>
-#include <boost/assign/list_of.hpp>
+#include <tuple>
+#include <iterator>
#include <hpp/util/pointer.hh>
#include <hpp/util/timer.hh>
@@ -99,15 +99,16 @@ namespace hpp {
}
const std::vector<ManipulationPlanner::Reason>
- ManipulationPlanner::reasons_ = boost::assign::list_of
- (SuccessBin::createReason ("--Path could not be fully projected")) // PATH_PROJECTION_SHORTER = 0,
- (SuccessBin::createReason ("--Path could not be fully validated")) // PATH_VALIDATION_SHORTER = 1,
- (SuccessBin::createReason ("--Reached destination node")) // REACHED_DESTINATION_NODE = 2,
- (SuccessBin::createReason ("Failure")) // FAILURE = 3,
- (SuccessBin::createReason ("--Projection of configuration on edge leaf")) // PROJECTION = 4,
- (SuccessBin::createReason ("--SteeringMethod")) // STEERING_METHOD = 5,
- (SuccessBin::createReason ("--Path validation returned length 0")) // PATH_VALIDATION_ZERO = 6,
- (SuccessBin::createReason ("--Path could not be projected at all")); // PATH_PROJECTION_ZERO = 7
+ ManipulationPlanner::reasons_ = {
+ SuccessBin::createReason("--Path could not be fully projected"), // PATH_PROJECTION_SHORTER = 0,
+ SuccessBin::createReason("--Path could not be fully validated"), // PATH_VALIDATION_SHORTER = 1,
+ SuccessBin::createReason("--Reached destination node"), // REACHED_DESTINATION_NODE = 2,
+ SuccessBin::createReason("Failure"), // FAILURE = 3,
+ SuccessBin::createReason("--Projection of configuration on edge leaf"), // PROJECTION = 4,
+ SuccessBin::createReason("--SteeringMethod"), // STEERING_METHOD = 5,
+ SuccessBin::createReason("--Path validation returned length 0"), // PATH_VALIDATION_ZERO = 6,
+ SuccessBin::createReason("--Path could not be projected at all"), // PATH_PROJECTION_ZERO = 7
+ };
ManipulationPlannerPtr_t ManipulationPlanner::create
(const core::ProblemConstPtr_t& problem,
@@ -168,7 +169,7 @@ namespace hpp {
core::Nodes_t newNodes;
core::PathPtr_t path;
- typedef boost::tuple <core::NodePtr_t, ConfigurationPtr_t, core::PathPtr_t>
+ typedef std::tuple <core::NodePtr_t, ConfigurationPtr_t, core::PathPtr_t>
DelayedEdge_t;
typedef std::vector <DelayedEdge_t> DelayedEdges_t;
DelayedEdges_t delayedEdges;
@@ -208,11 +209,10 @@ namespace hpp {
HPP_START_TIMECOUNTER(delayedEdges);
// Insert delayed edges
- for (DelayedEdges_t::const_iterator itEdge = delayedEdges.begin ();
- itEdge != delayedEdges.end (); ++itEdge) {
- const core::NodePtr_t& near = itEdge-> get <0> ();
- const ConfigurationPtr_t& q_new = itEdge-> get <1> ();
- const core::PathPtr_t& validPath = itEdge-> get <2> ();
+ for (const auto& edge : delayedEdges) {
+ const core::NodePtr_t& near = std::get<0>(edge);
+ const ConfigurationPtr_t& q_new = std::get<1>(edge);
+ const core::PathPtr_t& validPath = std::get<2>(edge);
core::NodePtr_t newNode = roadmap ()->addNode (q_new);
roadmap ()->addEdge (near, newNode, validPath);
roadmap ()->addEdge (newNode, near, validPath->reverse());
@@ -437,7 +437,7 @@ namespace hpp {
const Configuration_t& q1 (*(*itn1)->configuration ());
graph::StatePtr_t s1 = getState (graph, *itn1);
- for (core::Nodes_t::const_iterator itn2 = boost::next (itn1);
+ for (core::Nodes_t::const_iterator itn2 = std::next (itn1);
itn2 != nodes.end (); ++itn2) {
if ((*itn1)->connectedComponent () == (*itn2)->connectedComponent ())
continue;
diff --git a/src/path-planner/end-effector-trajectory.cc b/src/path-planner/end-effector-trajectory.cc
index a898f5f..7a486aa 100644
--- a/src/path-planner/end-effector-trajectory.cc
+++ b/src/path-planner/end-effector-trajectory.cc
@@ -208,10 +208,10 @@ namespace hpp {
continue;
}
- roadmap()->initNode (boost::make_shared<Configuration_t>(steps.col(0)));
+ roadmap()->initNode (make_shared<Configuration_t>(steps.col(0)));
core::NodePtr_t init = roadmap()-> initNode ();
core::NodePtr_t goal = roadmap()->addGoalNode (
- boost::make_shared<Configuration_t>(steps.col(nDiscreteSteps_)));
+ make_shared<Configuration_t>(steps.col(nDiscreteSteps_)));
roadmap()->addEdge (init, goal, path);
success = true;
if (feasibilityOnly_) break;
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index fadf04c..86df217 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -17,8 +17,6 @@
#include "hpp/manipulation/problem-solver.hh"
-#include <boost/bind.hpp>
-
#include <hpp/util/pointer.hh>
#include <hpp/util/debug.hh>
@@ -93,7 +91,7 @@ namespace hpp {
core::SteeringMethodPtr_t createSMWithGuess
(const core::ProblemConstPtr_t& problem)
{
- boost::shared_ptr<ParentSM_t> sm = ParentSM_t::create (problem);
+ shared_ptr<ParentSM_t> sm = ParentSM_t::create (problem);
sm->innerSteeringMethod (ChildSM_t::createWithGuess (problem));
return sm;
}
@@ -272,27 +270,27 @@ namespace hpp {
(Constraint_t::createConstraintAndComplement
(name, robot_, floorSurfaces, objectSurfaces, margin));
- addNumericalConstraint(boost::get<0>(constraints)->function().name(),
- boost::get<0>(constraints));
- addNumericalConstraint(boost::get<1>(constraints)->function().name(),
- boost::get<1>(constraints));
- addNumericalConstraint(boost::get<2>(constraints)->function().name(),
- boost::get<2>(constraints));
+ addNumericalConstraint(std::get<0>(constraints)->function().name(),
+ std::get<0>(constraints));
+ addNumericalConstraint(std::get<1>(constraints)->function().name(),
+ std::get<1>(constraints));
+ addNumericalConstraint(std::get<2>(constraints)->function().name(),
+ std::get<2>(constraints));
// Set security margin to contact constraint
assert(HPP_DYNAMIC_PTR_CAST(constraints::ConvexShapeContact,
- boost::get<0>(constraints)->functionPtr()));
+ std::get<0>(constraints)->functionPtr()));
constraints::ConvexShapeContactPtr_t contactFunction
(HPP_STATIC_PTR_CAST(constraints::ConvexShapeContact,
- boost::get<0>(constraints)->functionPtr()));
+ std::get<0>(constraints)->functionPtr()));
contactFunction->setNormalMargin(margin);
constraintsAndComplements.push_back (
- ConstraintAndComplement_t (boost::get<0>(constraints),
- boost::get<1>(constraints),
- boost::get<2>(constraints)));
+ ConstraintAndComplement_t (std::get<0>(constraints),
+ std::get<1>(constraints),
+ std::get<2>(constraints)));
if (constraintGraph ())
- constraintGraph ()->registerConstraints(boost::get<0>(constraints),
- boost::get<1>(constraints),
- boost::get<2>(constraints));
+ constraintGraph ()->registerConstraints(std::get<0>(constraints),
+ std::get<1>(constraints),
+ std::get<2>(constraints));
}
void ProblemSolver::createPrePlacementConstraint
diff --git a/src/problem.cc b/src/problem.cc
index 1a3cf39..a0cdc35 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -75,7 +75,7 @@ namespace hpp {
{
PathValidationPtr_t pv (pvFactory_ (robot(), pvTol_));
- boost::shared_ptr<core::ObstacleUserInterface> oui =
+ shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pv);
if (oui) {
const core::ObjectStdVector_t& obstacles (collisionObstacles ());
diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc
index e6b3d2e..3d43520 100644
--- a/src/steering-method/cross-state-optimization.cc
+++ b/src/steering-method/cross-state-optimization.cc
@@ -21,8 +21,6 @@
#include <queue>
#include <vector>
-#include <boost/bind.hpp>
-
#include <hpp/util/exception-factory.hh>
#include <pinocchio/multibody/model.hpp>
--
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