Remove Boost dependency

.github/workflows/ci_windows.yml

@@ -21,7 +21,7 @@ jobs:
     env:
       BUILD_TYPE: ${{ matrix.build_type }}
       VCPKG_ROOT: "C:/dartsim/vcpkg"
-      VCPKG_BUILD_TAG: v0.2.0-70f192e
+      VCPKG_BUILD_TAG: v6.13-c973b49-0
     steps:
       - name: Checkout
         uses: actions/checkout@v2

Brewfile

@@ -3,10 +3,10 @@ brew 'cmake'
 brew 'pkg-config'
 
 brew 'assimp'
-brew 'boost'
 brew 'bullet'
 brew 'eigen'
 brew 'fcl'
+brew 'fmt'
 brew 'flann'
 brew 'ipopt'
 brew 'libccd'

CHANGELOG.md

@@ -2,6 +2,12 @@
 
 ### [DART 6.13.0 (TBD)](https://github.com/dartsim/dart/milestone/69?closed=1)
 
+* Dependency
+
+  * Added required dependencies: fmt
+  * Added optional dependencies: spdlog
+  * Removed required dependencies: Boost
+
 * Build
 
   * Dropped supporting FCL < 0.5: [#1647](https://github.com/dartsim/dart/pull/1647)

CMakeLists.txt

@@ -68,7 +68,7 @@ string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\3"
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
-set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost")
+set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp")
 
 #===============================================================================
 # Build options

Dockerfile

@@ -20,7 +20,7 @@ RUN apt-get update \
     libassimp-dev \
     libccd-dev \
     libfcl-dev \
-    libboost-all-dev \
+    libfmt-dev \
     libnlopt-cxx-dev \
     coinor-libipopt-dev \
     libbullet-dev \
@@ -34,6 +34,7 @@ RUN apt-get update \
     libxmu-dev \
     freeglut3-dev \
     libopenscenegraph-dev \
+    libspdlog-dev \
     && rm -rf /var/lib/apt/lists/*
 
 # Install dartpy dependencies

cmake/DARTFindDependencies.cmake

@@ -9,6 +9,10 @@ if(DART_VERBOSE)
   message(STATUS "[ Required dependencies for DART core ]")
 endif()
 
+# fmt
+dart_find_package(fmt)
+dart_check_required_package(fmt "libfmt")
+
 # Eigen
 dart_find_package(Eigen3)
 dart_check_required_package(EIGEN3 "eigen3")
@@ -85,9 +89,6 @@ if(ASSIMP_FOUND)
   unset(CMAKE_REQUIRED_LIBRARIES)
 endif()
 
-# Boost
-dart_find_package(Boost)
-
 # octomap
 dart_find_package(octomap)
 if(MSVC)

cmake/DARTFindfmt.cmake

@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2022, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(fmt)

dart/CMakeLists.txt

@@ -39,8 +39,8 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
 # Targets - {dependency targets}, source directories, [external dependency libs]
 #===============================================================================
 # dart - common, math, integration, lcpsolver, optimizer, dynamics, collision,
-#        collision/dart, collision/fcl, constraint, simulation, [eigen3, libccd,
-#        fcl, assimp, boost]
+#        collision/dart, collision/fcl, constraint, simulation, [assimp, eigen3,
+#        fcl, fmt, libccd]
 # dart-optimizer-ipopt - {dart}, optimizer/ipopt, [ipopt]
 # dart-optimizer-nlopt - {dart}, optimizer/nlopt, [nlopt]
 # dart-collision-bullet - {dart}, collision/bullet, [bullet]
@@ -131,10 +131,8 @@ target_link_libraries(dart
     Eigen3::Eigen
     ccd
     fcl
+    fmt::fmt
     assimp
-    Boost::boost
-    Boost::system
-    Boost::filesystem
 )
 
 # spdlog settings
@@ -207,7 +205,7 @@ endif()
 add_component_targets(${PROJECT_NAME} dart dart)
 add_component_dependencies(${PROJECT_NAME} dart external-odelcpsolver)
 add_component_dependency_packages(${PROJECT_NAME} dart
-  Eigen3 ccd fcl assimp Boost
+  assimp Eigen3 ccd fcl fmt
 )
 if(TARGET octomap)
   add_component_dependency_packages(${PROJECT_NAME} dart octomap)

dart/common/String.cpp

@@ -0,0 +1,106 @@
+/*
+ * Copyright (c) 2011-2022, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/common/String.hpp"
+
+#include <algorithm>
+
+namespace dart::common {
+
+//==============================================================================
+std::string toUpper(std::string str)
+{
+  toUpperInPlace(str);
+  return str;
+}
+
+//==============================================================================
+void toUpperInPlace(std::string& str)
+{
+  std::transform(str.begin(), str.end(), str.begin(), ::toupper);
+}
+
+//==============================================================================
+std::string toLower(std::string str)
+{
+  toLowerInPlace(str);
+  return str;
+}
+
+//==============================================================================
+void toLowerInPlace(std::string& str)
+{
+  std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+}
+
+//==============================================================================
+std::string trim(const std::string& str, const std::string& whitespaces)
+{
+  return trimRight(trimLeft(str, whitespaces), whitespaces);
+}
+
+//==============================================================================
+std::string trimLeft(const std::string& str, const std::string& whitespaces)
+{
+  size_t startpos = str.find_first_not_of(whitespaces);
+  return (startpos == std::string::npos) ? "" : str.substr(startpos);
+}
+
+//==============================================================================
+std::string trimRight(const std::string& str, const std::string& whitespaces)
+{
+  size_t endpos = str.find_last_not_of(whitespaces);
+  return (endpos == std::string::npos) ? "" : str.substr(0, endpos + 1);
+}
+
+//==============================================================================
+std::vector<std::string> split(
+    const std::string& str, const std::string& delimiters)
+{
+  std::vector<std::string> tokens;
+  std::size_t start = str.find_first_not_of(delimiters), end = 0;
+
+  while ((end = str.find_first_of(delimiters, start)) != std::string::npos)
+  {
+    tokens.push_back(str.substr(start, end - start));
+    start = str.find_first_not_of(delimiters, end);
+  }
+
+  if (start != std::string::npos)
+  {
+    tokens.push_back(str.substr(start));
+  }
+
+  return tokens;
+}
+
+} // namespace dart::common

dart/common/String.hpp

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2011-2022, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_STRING_HPP_
+#define DART_COMMON_STRING_HPP_
+
+#include <string>
+#include <vector>
+
+namespace dart::common {
+
+/// Converts string to upper cases
+std::string toUpper(std::string str);
+
+/// Converts string to upper cases in place
+void toUpperInPlace(std::string& str);
+
+/// Converts string to lower cases
+std::string toLower(std::string str);
+
+/// Converts string to lower cases in place
+void toLowerInPlace(std::string& str);
+
+/// Trims both sides of string
+std::string trim(
+    const std::string& str, const std::string& whitespaces = " \n\r\t");
+
+/// Trims left side of string
+std::string trimLeft(
+    const std::string& str, const std::string& whitespaces = " \n\r\t");
+
+/// Trims right side of string
+std::string trimRight(
+    const std::string& str, const std::string& whitespaces = " \n\r\t");
+
+/// Splits string given delimiters
+std::vector<std::string> split(
+    const std::string& str, const std::string& delimiters = " \n\r\t");
+
+} // namespace dart::common
+
+#endif // DART_COMMON_STRING_HPP_

dart/utils/CMakeLists.txt

@@ -2,33 +2,11 @@
 dart_find_package(tinyxml2)
 dart_check_optional_package(TINYXML2 "dart-utils" "tinyxml2" "1.0.1")
 
-# Test whether boost algorithm and lexical_cast headers are available.
-include(CheckCXXSourceCompiles)
-set(CMAKE_REQUIRED_FLAGS "-w")
-set(CMAKE_REQUIRED_INCLUDES "${Boost_INCLUDE_DIRS}")
-check_cxx_source_compiles(
-  "
-  #include <boost/algorithm/string.hpp>
-  #include <boost/lexical_cast.hpp>
-  int main()
-  {
-    return 0;
-  }
-  "
-  HAS_BOOST_ALGORITHM_LEXICAL_CAST
-)
-if(HAS_BOOST_ALGORITHM_LEXICAL_CAST)
-  if(DART_VERBOSE)
-    message(STATUS "Looking for Boost algorithm and lexical_cast headers - found")
-  endif()
-else()
-  message(WARNING "Looking for Boost algorithm and lexical_cast headers - NOT found, to use dart-utils, please install missing boost headers")
-  return()
-endif()
-
 # Search all header and source files
 file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
+file(GLOB detail_hdrs "detail/*.hpp")
+file(GLOB detail_srcs "detail/*.cpp")
 
 function(dart_add_utils_headers)
   dart_property_add(DART_UTILS_HEADERS ${ARGN})
@@ -50,7 +28,7 @@ set(target_name ${PROJECT_NAME}-utils)
 set(component_name utils)
 
 # Add target
-dart_add_library(${target_name} ${hdrs} ${srcs} ${dart_utils_headers} ${dart_utils_sources})
+dart_add_library(${target_name} ${hdrs} ${srcs} ${detail_hdrs} ${detail_srcs} ${dart_utils_headers} ${dart_utils_sources})
 target_link_libraries(${target_name} PUBLIC dart tinyxml2::tinyxml2)
 
 # Component
@@ -82,8 +60,13 @@ install(
   DESTINATION include/dart/utils
   COMPONENT headers
 )
+install(
+  FILES ${detail_hdrs}
+  DESTINATION include/dart/utils/detail
+  COMPONENT headers
+)
 
 # Add subdirectories (components)
 add_subdirectory(urdf)
 
-dart_format_add(${hdrs} ${srcs} ${dart_utils_headers} ${dart_utils_sources})
+dart_format_add(${hdrs} ${srcs} ${detail_hdrs} ${detail_srcs} ${dart_utils_headers} ${dart_utils_sources})