flexible-collision-library · jslee02 · Jul 23, 2016 · Jul 22, 2016 · Jul 22, 2016 · Jul 23, 2016
diff --git a/.appveyor.yml b/.appveyor.yml
@@ -14,8 +14,6 @@ platform: x64
 
 environment:
   CTEST_OUTPUT_ON_FAILURE: 1
-  BOOST_ROOT: C:\Libraries\boost_1_59_0
-  BOOST_LIBRARYDIR: C:\Libraries\boost_1_59_0\lib64-msvc-14.0
 
 cache:
   - C:\Program Files\libccd
@@ -36,7 +34,7 @@ before_build:
   - cmd: set
   - cmd: mkdir build
   - cmd: cd build
-  - cmd: cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_BUILD_TYPE=%Configuration% -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DCCD_INCLUDE_DIRS="C:\Program Files\libccd\include" -DCCD_LIBRARY="C:\Program Files\libccd\lib\ccd.lib" ..
+  - cmd: cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_INCLUDE_DIRS="C:\Program Files\libccd\include" -DCCD_LIBRARY="C:\Program Files\libccd\lib\ccd.lib" ..
 
 build:
   project: C:\projects\fcl\build\fcl.sln

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,7 +2,7 @@
 
 ### FCL 0.6.0 (2016-XX-XX)
 
-* Removed Boost Test and replaced with Google Test: [#146](https://github.com/flexible-collision-library/fcl/pull/146), [#140](https://github.com/flexible-collision-library/fcl/pull/140)
+* Removed dependency on boost: [#148](https://github.com/flexible-collision-library/fcl/pull/148), [#147](https://github.com/flexible-collision-library/fcl/pull/147), [#146](https://github.com/flexible-collision-library/fcl/pull/146), [#140](https://github.com/flexible-collision-library/fcl/pull/140)
 
 ### FCL 0.5.0 (2016-07-19)
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -164,8 +164,7 @@ configure_file(
 add_custom_target(uninstall
   "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake")
 
-find_package(Boost COMPONENTS filesystem system)
-option(FCL_BUILD_TESTS "Build FCL tests" ${Boost_FOUND})
+option(FCL_BUILD_TESTS "Build FCL tests" ON)
 if(FCL_BUILD_TESTS)
     enable_testing()
     add_subdirectory(test)

diff --git a/INSTALL b/INSTALL
@@ -2,11 +2,10 @@
 Dependencies:
 ============
 
- - Boost (thread, date_time, unit_test_framework, filesystem)
  - libccd (available at http://libccd.danfis.cz/)
  - octomap (optional dependency, available at http://octomap.github.com)
 
-Boost and libccd are mandatory dependencies. If octomap is not found,
+libccd is the only mandatory dependency. If octomap is not found,
 collision detection with octrees will not be possible.
 
 For installation, CMake will also be needed (http://cmake.org).

diff --git a/README.md b/README.md
@@ -31,8 +31,7 @@ FCL has the following features
 
 ## Installation
 
-Before compiling FCL, please make libccd (for collision checking between convex objects and is available here https://github.com/danfis/libccd) is installed. For libccd, make sure to compile from github version instead of the zip file from the webpage, because one bug fixing is not included in the zipped version. To compile
-the unit tests, Boost also needs to be to installed.
+Before compiling FCL, please make libccd (for collision checking between convex objects and is available here https://github.com/danfis/libccd) is installed. For libccd, make sure to compile from github version instead of the zip file from the webpage, because one bug fixing is not included in the zipped version.
 
 Some optional libraries need to be installed for some optional capability of FCL. For octree collision, please install the octomap library from http://octomap.github.com.
 

diff --git a/ci/install_osx.sh b/ci/install_osx.sh
@@ -2,5 +2,4 @@ brew tap homebrew/science
 
 brew install git
 brew install cmake
-brew install boost
 brew install libccd
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -11,8 +11,7 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 
 target_link_libraries(${PROJECT_NAME}
   PUBLIC ${OCTOMAP_LIBRARIES}
-  PRIVATE ${CCD_LIBRARIES}
-  PRIVATE ${Boost_LIBRARIES})
+  PRIVATE ${CCD_LIBRARIES})
 
 target_include_directories(${PROJECT_NAME} INTERFACE
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -59,13 +59,7 @@ macro(add_fcl_test test_file_name)
   # Get the name (i.e. bla.cpp => bla)
   get_filename_component(test_name ${ARGV} NAME_WE)
   add_executable(${test_name} ${ARGV})
-  target_link_libraries(${test_name}
-      fcl
-      test_fcl_utility
-      gtest
-      ${Boost_FILESYSTEM_LIBRARY} # Boost libraries should be removed
-      ${Boost_SYSTEM_LIBRARY}
-  )
+  target_link_libraries(${test_name} fcl test_fcl_utility gtest)
   add_test(${test_name} ${EXECUTABLE_OUTPUT_PATH}/${test_name})
 endmacro(add_fcl_test)
 
@@ -81,12 +75,6 @@ configure_file("${TEST_RESOURCES_SRC_DIR}/config.h.in" "${TEST_RESOURCES_BIN_DIR
 
 include_directories(.)
 include_directories("${CMAKE_CURRENT_BINARY_DIR}")
-include_directories(${Boost_INCLUDE_DIR})
-
-if(MSVC)
-    add_definitions(-DBOOST_ALL_NO_LIB)
-endif()
-add_definitions(-DBOOST_TEST_DYN_LINK)
 
 # Build all the tests
 foreach(test ${tests})

diff --git a/test/test_fcl_collision.cpp b/test/test_fcl_collision.cpp
@@ -46,7 +46,6 @@
 #include "fcl/narrowphase/narrowphase.h"
 #include "test_fcl_utility.h"
 #include "fcl_resources/config.h"
-#include <boost/filesystem.hpp>
 
 using namespace fcl;
 
@@ -241,10 +240,9 @@ GTEST_TEST(FCL_COLLISION, mesh_mesh)
 {
   std::vector<Vec3f> p1, p2;
   std::vector<Triangle> t1, t2;
-  boost::filesystem::path path(TEST_RESOURCES_DIR);
 
-  loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
-  loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
+  loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
+  loadOBJFile(TEST_RESOURCES_DIR"/rob.obj", p2, t2);
 
   std::vector<Transform3f> transforms;
   FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};

diff --git a/test/test_fcl_distance.cpp b/test/test_fcl_distance.cpp
@@ -42,7 +42,6 @@
 #include "fcl/collision_node.h"
 #include "test_fcl_utility.h"
 #include "fcl_resources/config.h"
-#include <boost/filesystem.hpp>
 
 using namespace fcl;
 
@@ -83,9 +82,9 @@ GTEST_TEST(FCL_DISTANCE, mesh_distance)
 {
   std::vector<Vec3f> p1, p2;
   std::vector<Triangle> t1, t2;
-  boost::filesystem::path path(TEST_RESOURCES_DIR);
-  loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
-  loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
+
+  loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
+  loadOBJFile(TEST_RESOURCES_DIR"/rob.obj", p2, t2);
 
   std::vector<Transform3f> transforms; // t0
   FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};

diff --git a/test/test_fcl_frontlist.cpp b/test/test_fcl_frontlist.cpp
@@ -43,7 +43,6 @@
 #include "test_fcl_utility.h"
 
 #include "fcl_resources/config.h"
-#include <boost/filesystem.hpp>
 
 using namespace fcl;
 
@@ -71,9 +70,9 @@ GTEST_TEST(FCL_FRONT_LIST, front_list)
 {
   std::vector<Vec3f> p1, p2;
   std::vector<Triangle> t1, t2;
-  boost::filesystem::path path(TEST_RESOURCES_DIR);
-  loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
-  loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
+
+  loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
+  loadOBJFile(TEST_RESOURCES_DIR"/rob.obj", p2, t2);
 
   std::vector<Transform3f> transforms; // t0
   std::vector<Transform3f> transforms2; // t1

diff --git a/test/test_fcl_octomap.cpp b/test/test_fcl_octomap.cpp
@@ -46,7 +46,6 @@
 #include "fcl/math/transform.h"
 #include "test_fcl_utility.h"
 #include "fcl_resources/config.h"
-#include <boost/filesystem.hpp>
 
 using namespace fcl;
 
@@ -215,8 +214,8 @@ void octomap_collision_test_BVH(std::size_t n, bool exhaustive)
 {
   std::vector<Vec3f> p1;
   std::vector<Triangle> t1;
-  boost::filesystem::path path(TEST_RESOURCES_DIR);
-  loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
+
+  loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
 
   BVHModel<BV>* m1 = new BVHModel<BV>();
   std::shared_ptr<CollisionGeometry> m1_ptr(m1);
@@ -281,8 +280,8 @@ void octomap_distance_test_BVH(std::size_t n)
 {
   std::vector<Vec3f> p1;
   std::vector<Triangle> t1;
-  boost::filesystem::path path(TEST_RESOURCES_DIR);
-  loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
+
+  loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
 
   BVHModel<BV>* m1 = new BVHModel<BV>();
   std::shared_ptr<CollisionGeometry> m1_ptr(m1);

diff --git a/test/test_fcl_simple.cpp b/test/test_fcl_simple.cpp
@@ -39,7 +39,6 @@
 #include "fcl/collision.h"
 #include "fcl/BVH/BVH_model.h"
 #include "fcl_resources/config.h"
-#include <boost/filesystem.hpp>
 #include <sstream>
 #include "fcl/math/vec_nf.h"
 #include "fcl/math/sampling.h"