Fix usage of Boost.

CMakeLists.txt

@@ -76,14 +76,14 @@ if(BUILD_PYTHON_INTERFACE)
 endif()
 
 # Required dependencies
-set(BOOST_COMPONENTS thread date_time system)
-set(BOOST_COMPONENTS ${BOOST_COMPONENTS} filesystem unit_test_framework chrono)
+ADD_PROJECT_DEPENDENCY(Boost REQUIRED)
+find_package(Boost REQUIRED COMPONENTS filesystem unit_test_framework chrono timer)
 if (BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  set(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+  set(BOOST_COMPONENTS python)
+  search_for_boost()
 endif ()
 
-search_for_boost()
 # Optional dependencies
 ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
 if(octomap_FOUND)
@@ -123,7 +123,6 @@ FIND_PACKAGE(assimp REQUIRED)
 
 SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/collision_data.h
-  include/hpp/fcl/profile.h
   include/hpp/fcl/BV/kIOS.h
   include/hpp/fcl/BV/BV.h
   include/hpp/fcl/BV/RSS.h
@@ -180,7 +179,6 @@ endif ()
 add_subdirectory(test)
 
 pkg_config_append_libs("hpp-fcl")
-PKG_CONFIG_APPEND_BOOST_LIBS(thread date_time system)
 IF(HPP_FCL_HAVE_OCTOMAP)
   # FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
   PKG_CONFIG_APPEND_CFLAGS(

include/hpp/fcl/internal/intersect.h

@@ -41,7 +41,6 @@
 /// @cond INTERNAL
 
 #include <hpp/fcl/math/transform.h>
-#include <boost/math/special_functions/erf.hpp>
 
 namespace hpp
 {

include/hpp/fcl/internal/traversal_node_bvhs.h

@@ -50,7 +50,6 @@
 #include <hpp/fcl/narrowphase/narrowphase.h>
 #include <hpp/fcl/internal/traversal.h>
 
-#include <boost/shared_array.hpp>
 #include <boost/shared_ptr.hpp>
 #include <limits>
 #include <vector>

src/CMakeLists.txt

@@ -68,7 +68,6 @@ set(${LIBRARY_NAME}_SOURCES
   intersect.cpp
   math/transform.cpp
   traversal/traversal_recurse.cpp
-  profile.cpp
   distance.cpp
   BVH/BVH_utility.cpp
   BVH/BV_fitter.cpp
@@ -158,13 +157,7 @@ ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
   PUBLIC
-  ${Boost_THREAD_LIBRARY}
-  ${Boost_DATE_TIME_LIBRARY}
-  ${Boost_SYSTEM_LIBRARY}
-  ${Boost_CHRONO_LIBRARY} # Required on Windows. Don't know why.
-#  Boost::thread
-#  Boost::date_time
-#  Boost::system
+  Boost::boost
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
@@ -183,7 +176,6 @@ endif()
 target_include_directories(${LIBRARY_NAME}
   SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIR}
-  ${Boost_INCLUDE_DIRS}
   )
 target_include_directories(${LIBRARY_NAME}
   SYSTEM PRIVATE

src/intersect.cpp

@@ -39,7 +39,7 @@
 #include <iostream>
 #include <limits>
 #include <vector>
-#include <boost/math/special_functions/fpclassify.hpp>
+#include <boost/math/special_functions/fpclassify.hpp> // isnan.
 #include <hpp/fcl/internal/tools.h>
 
 namespace hpp

test/CMakeLists.txt

@@ -5,8 +5,10 @@ macro(add_fcl_test test_name source)
   target_link_libraries(${test_name}
     PUBLIC
     hpp-fcl
-    ${Boost_LIBRARIES}
     Boost::unit_test_framework
+    Boost::chrono
+    Boost::filesystem
+    Boost::timer
     utility
     )
   target_compile_options(${test_name} PRIVATE "-Wno-c99-extensions")
@@ -63,8 +65,8 @@ ENDIF()
 target_link_libraries(test-benchmark 
   PUBLIC 
   utility
-  ${Boost_CHRONO_LIBRARY}
-  ${Boost_FILESYSTEM_LIBRARY}
+  Boost::chrono
+  Boost::filesystem
   ${PROJECT_NAME} 
   )
 

test/box_box_distance.cpp

@@ -40,7 +40,6 @@
 #define BOOST_TEST_MODULE FCL_BOX_BOX
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 

test/broadphase.cpp

@@ -39,7 +39,6 @@
 #define BOOST_TEST_MODULE FCL_BROADPHASE
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #include <hpp/fcl/config.h>
 #include <hpp/fcl/broadphase/broadphase.h>

test/bvh_models.cpp

@@ -38,7 +38,6 @@
 #define BOOST_TEST_MODULE FCL_BVH_MODELS
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 #include <boost/filesystem.hpp>
 
 #include "fcl_resources/config.h"

test/capsule_box_1.cpp

@@ -38,7 +38,6 @@
 #define BOOST_TEST_MODULE FCL_GEOMETRIC_SHAPES
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 

test/capsule_box_2.cpp

@@ -38,7 +38,6 @@
 #define BOOST_TEST_MODULE FCL_GEOMETRIC_SHAPES
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 

test/capsule_capsule.cpp

@@ -38,7 +38,6 @@
 #define BOOST_TEST_MODULE FCL_CAPSULE_CAPSULE
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 

test/collision.cpp

@@ -42,10 +42,8 @@
 #define BOOST_TEST_MODULE FCL_COLLISION
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #include <fstream>
-#include <boost/filesystem.hpp>
 #include <boost/assign/list_of.hpp>
 
 #include <hpp/fcl/collision.h>

test/convex.cpp

@@ -38,7 +38,6 @@
 #define BOOST_TEST_MODULE FCL_GEOMETRIC_SHAPES
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #include <hpp/fcl/shape/convex.h>
 #include <hpp/fcl/collision.h>

test/distance.cpp

@@ -38,7 +38,6 @@
 #define BOOST_TEST_MODULE FCL_DISTANCE
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 #include <boost/timer.hpp>
 #include <boost/filesystem.hpp>
 

test/distance_lower_bound.cpp

@@ -35,7 +35,6 @@
 #define BOOST_TEST_MODULE FCL_DISTANCE_LOWER_BOUND
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 # include <boost/filesystem.hpp>
 
 #include <hpp/fcl/fwd.hh>

test/frontlist.cpp

@@ -39,7 +39,6 @@
 #define BOOST_TEST_MODULE FCL_FRONT_LIST
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #include <hpp/fcl/internal/traversal_node_bvhs.h>
 #include <hpp/fcl/internal/traversal_node_setup.h>

test/geometric_shapes.cpp

@@ -39,7 +39,6 @@
 #define BOOST_TEST_MODULE FCL_GEOMETRIC_SHAPES
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #include <hpp/fcl/narrowphase/narrowphase.h>
 #include <hpp/fcl/collision.h>

test/gjk.cpp

@@ -39,7 +39,6 @@
 
 #include <time.h>
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #include <Eigen/Geometry>
 #include <hpp/fcl/narrowphase/narrowphase.h>

test/math.cpp

@@ -39,7 +39,6 @@
 #define BOOST_TEST_MODULE FCL_MATH
 #define BOOST_TEST_DYN_LINK
 #include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
 
 #include <hpp/fcl/data_types.h>
 #include <hpp/fcl/math/transform.h>