Merge pull request #105 from mamoll/master

Remove more boost usage and replace with C++11 equivalents.

include/fcl/BVH/BVH_model.h

@@ -45,15 +45,13 @@
 #include "fcl/BVH/BV_fitter.h"
 #include <vector>
 #include <memory>
-#include <boost/noncopyable.hpp>
 
 namespace fcl
 {
 
 /// @brief A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
 template<typename BV>
-class BVHModel : public CollisionGeometry,
-                 private boost::noncopyable
+class BVHModel : public CollisionGeometry
 {
 
 public:

include/fcl/broadphase/interval_tree.h

@@ -47,7 +47,6 @@ namespace fcl
 
 /// @brief Interval trees implemented using red-black-trees as described in
 /// the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest.
-/// Can be replaced in part by boost::icl::interval_set, which is only supported after boost 1.46 and does not support delete node routine.
 struct SimpleInterval
 {
 public:

include/fcl/ccd/interpolation/interpolation_factory.h

@@ -44,15 +44,15 @@
 #include <map>
 
 #include <memory>
-#include <boost/function.hpp>
+#include <functional>
 
 namespace fcl 
 {
 
 class InterpolationFactory
 {	
 public:
-  typedef boost::function<std::shared_ptr<Interpolation>(FCL_REAL, FCL_REAL)> CreateFunction;
+  typedef std::function<std::shared_ptr<Interpolation>(FCL_REAL, FCL_REAL)> CreateFunction;
 
 public:
   void registerClass(const InterpolationType type, const CreateFunction create_function);

include/fcl/data_types.h

@@ -39,16 +39,16 @@
 #define FCL_DATA_TYPES_H
 
 #include <cstddef>
-#include <boost/cstdint.hpp>
+#include <cstdint>
 
 namespace fcl
 {
 
 typedef double FCL_REAL;
-typedef boost::uint64_t FCL_INT64;
-typedef boost::int64_t FCL_UINT64;
-typedef boost::uint32_t FCL_UINT32;
-typedef boost::int32_t FCL_INT32;
+typedef std::uint_fast64_t FCL_INT64;
+typedef std::int_fast64_t FCL_UINT64;
+typedef std::uint_fast32_t FCL_UINT32;
+typedef std::int_fast32_t FCL_INT32;
 
 /// @brief Triangle with 3 indices for points
 class Triangle

include/fcl/intersect.h

@@ -39,7 +39,6 @@
 #define FCL_INTERSECT_H
 
 #include "fcl/math/transform.h"
-#include <boost/math/special_functions/erf.hpp>
 
 namespace fcl
 {

include/fcl/knn/greedy_kcenters.h

@@ -50,7 +50,7 @@ class GreedyKCenters
 {
 public:
   /// @brief The definition of a distance function
-  typedef boost::function<double(const _T&, const _T&)> DistanceFunction;
+  typedef std::function<double(const _T&, const _T&)> DistanceFunction;
 
   GreedyKCenters(void)
   {

include/fcl/knn/nearest_neighbors.h

@@ -40,7 +40,6 @@
 
 #include <vector>
 #include <functional>
-#include <boost/function.hpp>
 
 namespace fcl
 {
@@ -51,7 +50,7 @@ class NearestNeighbors
 public:
 
   /// @brief The definition of a distance function
-  typedef boost::function<double(const _T&, const _T&)> DistanceFunction;
+  typedef std::function<double(const _T&, const _T&)> DistanceFunction;
 
   NearestNeighbors(void)
   {

include/fcl/knn/nearest_neighbors_GNAT.h

@@ -40,7 +40,7 @@
 #include "fcl/knn/nearest_neighbors.h"
 #include "fcl/knn/greedy_kcenters.h"
 #include "fcl/exception.h"
-#include <boost/unordered_set.hpp>
+#include <unordered_set>
 #include <queue>
 #include <algorithm>
 
@@ -239,7 +239,7 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
       if (!gnat.removed_.empty())
       {
         out << "Elements marked for removal:\n";
-        for (typename boost::unordered_set<const _T*>::const_iterator it = gnat.removed_.begin();
+        for (typename std::unordered_set<const _T*>::const_iterator it = gnat.removed_.begin();
              it != gnat.removed_.end(); it++)
           out << **it << '\t';
         out << std::endl;
@@ -252,12 +252,12 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
   void integrityCheck()
   {
     std::vector<_T> lst;
-    boost::unordered_set<const _T*> tmp;
+    std::unordered_set<const _T*> tmp;
     // get all elements, including those marked for removal
     removed_.swap(tmp);
     list(lst);
     // check if every element marked for removal is also in the tree
-    for (typename boost::unordered_set<const _T*>::iterator it=tmp.begin(); it!=tmp.end(); it++)
+    for (typename std::unordered_set<const _T*>::iterator it=tmp.begin(); it!=tmp.end(); it++)
     {
       unsigned int i;
       for (i=0; i<lst.size(); ++i)
@@ -689,7 +689,7 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
   /// \brief The data structure used to split data into subtrees.
   GreedyKCenters<_T>              pivotSelector_;
   /// \brief Cache of removed elements.
-  boost::unordered_set<const _T*> removed_;
+  std::unordered_set<const _T*> removed_;
 };
 }
 

include/fcl/math/sampling.h

@@ -1,11 +1,8 @@
 #ifndef FCL_MATH_SAMPLING_H
 #define FCL_MATH_SAMPLING_H
 
-#include <boost/random/mersenne_twister.hpp>
-#include <boost/random/uniform_real.hpp>
-#include <boost/random/normal_distribution.hpp>
-#include <boost/random/variate_generator.hpp>
-#include <boost/assign/list_of.hpp>
+#include <random>
+#include <cassert>
 #include "fcl/math/constants.h"
 #include "fcl/math/vec_nf.h"
 #include "fcl/math/transform.h"
@@ -30,14 +27,14 @@ class RNG
   /// @brief Generate a random real between 0 and 1
   double uniform01()
   {
-    return uni_();
+    return uniDist_(generator_);
   }
 
   /// @brief Generate a random real within given bounds: [\e lower_bound, \e upper_bound)
   double uniformReal(double lower_bound, double upper_bound)
   {
     assert(lower_bound <= upper_bound);
-    return (upper_bound - lower_bound) * uni_() + lower_bound;
+    return (upper_bound - lower_bound) * uniDist_(generator_) + lower_bound;
   }
 
   /// @brief Generate a random integer within given bounds: [\e lower_bound, \e upper_bound]
@@ -50,19 +47,19 @@ class RNG
   /// @brief Generate a random boolean
   bool uniformBool()
   {
-    return uni_() <= 0.5;
+    return uniDist_(generator_) <= 0.5;
   }
 
   /// @brief Generate a random real using a normal distribution with mean 0 and variance 1
   double gaussian01()
   {
-    return normal_();
+    return normalDist_(generator_);
   }
 
   /// @brief Generate a random real using a normal distribution with given mean and variance
   double gaussian(double mean, double stddev)
   {
-    return normal_() * stddev + mean;
+    return normalDist_(generator_) * stddev + mean;
   }
 
   /// @brief Generate a random real using a half-normal distribution. The value is within specified bounds [\e r_min, \e r_max], but with a bias towards \e r_max. The function is implemended using a Gaussian distribution with mean at \e r_max - \e r_min. The distribution is 'folded' around \e r_max axis towards \e r_min. The variance of the distribution is (\e r_max - \e r_min) / \e focus. The higher the focus, the more probable it is that generated numbers are close to \e r_max.
@@ -84,18 +81,16 @@ class RNG
   void ball(double r_min, double r_max, double& x, double& y, double& z);
 
   /// @brief Set the seed for random number generation. Use this function to ensure the same sequence of random numbers is generated.
-  static void setSeed(boost::uint32_t seed);
+  static void setSeed(std::uint_fast32_t seed);
 
   /// @brief Get the seed used for random number generation. Passing the returned value to setSeed() at a subsequent execution of the code will ensure deterministic (repeatable) behaviour. Useful for debugging.
-  static boost::uint32_t getSeed();
+  static std::uint_fast32_t getSeed();
 
 private:
 
-  boost::mt19937 generator_;
-  boost::uniform_real<> uniDist_;
-  boost::normal_distribution<> normalDist_;
-  boost::variate_generator<boost::mt19937&, boost::uniform_real<> > uni_;
-  boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > normal_;
+  std::mt19937                     generator_;
+  std::uniform_real_distribution<> uniDist_;
+  std::normal_distribution<>       normalDist_;
 
 };
 
@@ -160,8 +155,8 @@ class SamplerSE2 : public SamplerBase
   {}
 
   SamplerSE2(FCL_REAL x_min, FCL_REAL x_max,
-             FCL_REAL y_min, FCL_REAL y_max) : lower_bound(boost::assign::list_of<FCL_REAL>(x_min)(y_min).convert_to_container<std::vector<FCL_REAL> >()),
-                                               upper_bound(boost::assign::list_of<FCL_REAL>(x_max)(y_max).convert_to_container<std::vector<FCL_REAL> >())
+             FCL_REAL y_min, FCL_REAL y_max) : lower_bound(std::vector<FCL_REAL>({x_min, y_min})),
+                                               upper_bound(std::vector<FCL_REAL>({x_max, y_max}))
 
   {}
 
@@ -248,8 +243,8 @@ class SamplerSE3Euler : public SamplerBase
   {}
 
   SamplerSE3Euler(const Vec3f& lower_bound_,
-                  const Vec3f& upper_bound_) : lower_bound(boost::assign::list_of<FCL_REAL>(lower_bound_[0])(lower_bound_[1])(lower_bound_[2]).convert_to_container<std::vector<FCL_REAL> >()),
-                                               upper_bound(boost::assign::list_of<FCL_REAL>(upper_bound_[0])(upper_bound_[1])(upper_bound_[2]).convert_to_container<std::vector<FCL_REAL> >())
+                  const Vec3f& upper_bound_) : lower_bound(std::vector<FCL_REAL>({lower_bound_[0], lower_bound_[1], lower_bound_[2]})),
+                                               upper_bound(std::vector<FCL_REAL>({upper_bound_[0], upper_bound_[1], upper_bound_[2]}))
   {}
 
   void setBound(const Vecnf<3>& lower_bound_,
@@ -263,8 +258,8 @@ class SamplerSE3Euler : public SamplerBase
   void setBound(const Vec3f& lower_bound_,
                 const Vec3f& upper_bound_)
   {
-    lower_bound = Vecnf<3>(boost::assign::list_of<FCL_REAL>(lower_bound_[0])(lower_bound_[1])(lower_bound_[2]).convert_to_container<std::vector<FCL_REAL> >());
-    upper_bound = Vecnf<3>(boost::assign::list_of<FCL_REAL>(upper_bound_[0])(upper_bound_[1])(upper_bound_[2]).convert_to_container<std::vector<FCL_REAL> >());
+    lower_bound = Vecnf<3>(std::vector<FCL_REAL>({lower_bound_[0], lower_bound_[1], lower_bound_[2]}));
+    upper_bound = Vecnf<3>(std::vector<FCL_REAL>({upper_bound_[0], upper_bound_[1], upper_bound_[2]}));
   }
 
   void getBound(Vecnf<3>& lower_bound_,
@@ -319,8 +314,8 @@ class SamplerSE3Quat : public SamplerBase
   {}
 
   SamplerSE3Quat(const Vec3f& lower_bound_,
-                 const Vec3f& upper_bound_) : lower_bound(boost::assign::list_of<FCL_REAL>(lower_bound_[0])(lower_bound_[1])(lower_bound_[2]).convert_to_container<std::vector<FCL_REAL> >()),
-                                              upper_bound(boost::assign::list_of<FCL_REAL>(upper_bound_[0])(upper_bound_[1])(upper_bound_[2]).convert_to_container<std::vector<FCL_REAL> >())
+                 const Vec3f& upper_bound_) : lower_bound(std::vector<FCL_REAL>({lower_bound_[0], lower_bound_[1], lower_bound_[2]})),
+                                              upper_bound(std::vector<FCL_REAL>({upper_bound_[0], upper_bound_[1], upper_bound_[2]}))
   {}
 
 
@@ -335,8 +330,8 @@ class SamplerSE3Quat : public SamplerBase
   void setBound(const Vec3f& lower_bound_,
                 const Vec3f& upper_bound_)
   {
-    lower_bound = Vecnf<3>(boost::assign::list_of<FCL_REAL>(lower_bound_[0])(lower_bound_[1])(lower_bound_[2]).convert_to_container<std::vector<FCL_REAL> >());
-    upper_bound = Vecnf<3>(boost::assign::list_of<FCL_REAL>(upper_bound_[0])(upper_bound_[1])(upper_bound_[2]).convert_to_container<std::vector<FCL_REAL> >());
+    lower_bound = Vecnf<3>(std::vector<FCL_REAL>({lower_bound_[0], lower_bound_[1], lower_bound_[2]}));
+    upper_bound = Vecnf<3>(std::vector<FCL_REAL>({upper_bound_[0], upper_bound_[1], upper_bound_[2]}));
   }
 
 

include/fcl/math/transform.h

@@ -40,7 +40,7 @@
 #define FCL_TRANSFORM_H
 
 #include "fcl/math/matrix_3f.h"
-#include <boost/thread/mutex.hpp>
+#include <mutex>
 
 namespace fcl
 {
@@ -182,7 +182,7 @@ static inline std::ostream& operator << (std::ostream& o, const Quaternion3f& q)
 /// @brief Simple transform class used locally by InterpMotion
 class Transform3f
 {
-  boost::mutex lock_;
+  std::mutex lock_;
 
   /// @brief Whether matrix cache is set
   mutable bool matrix_set;

include/fcl/math/vec_nf.h

@@ -5,7 +5,6 @@
 #include <iostream>
 #include <limits>
 #include <vector>
-#include <boost/array.hpp>
 #include <cstdarg>
 #include "fcl/data_types.h"
 

include/fcl/octree.h

@@ -41,7 +41,7 @@
 
 
 #include <memory>
-#include <boost/array.hpp>
+#include <array>
 
 #include <octomap/octomap.h>
 #include "fcl/BV/AABB.h"
@@ -134,9 +134,9 @@ class OcTree : public CollisionGeometry
 
   /// @brief transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we
   /// only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough).
-  inline std::vector<boost::array<FCL_REAL, 6> > toBoxes() const
+  inline std::vector<std::array<FCL_REAL, 6> > toBoxes() const
   {
-    std::vector<boost::array<FCL_REAL, 6> > boxes;
+    std::vector<std::array<FCL_REAL, 6> > boxes;
     boxes.reserve(tree->size() / 2);
     for(octomap::OcTree::iterator it = tree->begin(tree->getTreeDepth()), end = tree->end();
         it != end;
@@ -152,7 +152,7 @@ class OcTree : public CollisionGeometry
         FCL_REAL c = (*it).getOccupancy();
         FCL_REAL t = tree->getOccupancyThres();
 
-        boost::array<FCL_REAL, 6> box = {{x, y, z, size, c, t}};
+        std::array<FCL_REAL, 6> box = {{x, y, z, size, c, t}};
         boxes.push_back(box);
       }
     }

include/fcl/profile.h

@@ -60,8 +60,7 @@
 #include <iostream>
 #include <thread>
 #include <mutex>
-#include <boost/noncopyable.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
+#include <chrono>
 
 namespace fcl
 {
@@ -71,29 +70,29 @@ namespace time
 {
 
 /// @brief Representation of a point in time
-typedef boost::posix_time::ptime         point;
+typedef std::chrono::system_clock::time_point point;
 
 /// @brief Representation of a time duration
-typedef boost::posix_time::time_duration duration;
+typedef std::chrono::system_clock::duration   duration;
 
 /// @brief Get the current time point
 inline point now(void)
 {
-  return boost::posix_time::microsec_clock::universal_time();
+  return std::chrono::system_clock::now();
 }
 
 /// @brief Return the time duration representing a given number of seconds
 inline duration seconds(double sec)
 {
   long s  = (long)sec;
   long us = (long)((sec - s) * 1000000);
-  return boost::posix_time::seconds(s) + boost::posix_time::microseconds(us);
+  return std::chrono::seconds(s) + std::chrono::microseconds(us);
 }
 
 /// @brief Return the number of seconds that a time duration represents
 inline double seconds(const duration &d)
 {
-  return (double)d.total_microseconds() / 1000000.0;
+  return std::chrono::duration<double>(d).count();
 }
 
 }
@@ -106,9 +105,12 @@ namespace tools
 /// external profiling tools in that it allows the user to count
 /// time spent in various bits of code (sub-function granularity)
 /// or count how many times certain pieces of code are executed.
-class Profiler : private boost::noncopyable
+class Profiler
 {
 public:
+  // non-copyable
+  Profiler(const Profiler&) = delete;
+  Profiler& operator=(const Profiler&) = delete;
 
   /// @brief This instance will call Profiler::begin() when constructed and Profiler::end() when it goes out of scope.
   class ScopedBlock
@@ -267,7 +269,7 @@ class Profiler : private boost::noncopyable
   /// @brief Information about time spent in a section of the code 
   struct TimeInfo
   {
-    TimeInfo(void) : total(0, 0, 0, 0), shortest(boost::posix_time::pos_infin), longest(boost::posix_time::neg_infin), parts(0)
+    TimeInfo(void) : total(time::seconds(0.)), shortest(time::duration::max()), longest(time::duration::min()), parts(0)
     {
     }