Get rid of boost::assign

examples/CreateSFMExampleData.cpp

@@ -18,9 +18,6 @@
 #include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/slam/dataset.h>
 
-#include <boost/assign/std/vector.hpp>
-
-using namespace boost::assign;
 using namespace std;
 using namespace gtsam;
 

examples/TimeTBB.cpp

@@ -18,13 +18,11 @@
 #include <gtsam/global_includes.h>
 #include <gtsam/base/Matrix.h>
 
-#include <boost/assign/list_of.hpp>
 #include <map>
 #include <iostream>
 
 using namespace std;
 using namespace gtsam;
-using boost::assign::list_of;
 
 #ifdef GTSAM_USE_TBB
 

gtsam/base/FastList.h

@@ -56,6 +56,9 @@ class FastList: public std::list<VALUE, typename internal::FastDefaultAllocator<
   /** Copy constructor from the base list class */
   FastList(const Base& x) : Base(x) {}
 
+  /// Construct from c++11 initializer list:
+  FastList(std::initializer_list<VALUE> l) : Base(l) {}
+
 #ifdef GTSAM_ALLOCATOR_BOOSTPOOL
   /** Copy constructor from a standard STL container */
   FastList(const std::list<VALUE>& x) {

gtsam/base/FastSet.h

@@ -56,15 +56,9 @@ class FastSet: public std::set<VALUE, std::less<VALUE>,
   typedef std::set<VALUE, std::less<VALUE>,
   typename internal::FastDefaultAllocator<VALUE>::type> Base;
 
-  /** Default constructor */
-  FastSet() {
-  }
+  using Base::Base;  // Inherit the set constructors
 
-  /** Constructor from a range, passes through to base class */
-  template<typename INPUTITERATOR>
-  explicit FastSet(INPUTITERATOR first, INPUTITERATOR last) :
-  Base(first, last) {
-  }
+  FastSet() = default; ///< Default constructor
 
   /** Constructor from a iterable container, passes through to base class */
   template<typename INPUTCONTAINER>

gtsam/base/tests/testDSFMap.cpp

@@ -16,17 +16,14 @@
  * @brief unit tests for DSFMap
  */
 
-#include <gtsam/base/DSFMap.h>
-
-#include <boost/assign/std/list.hpp>
-#include <boost/assign/std/set.hpp>
-using namespace boost::assign;
-
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/DSFMap.h>
 
 #include <iostream>
+#include <list>
+#include <map>
+#include <set>
 
-using namespace std;
 using namespace gtsam;
 
 /* ************************************************************************* */
@@ -65,9 +62,8 @@ TEST(DSFMap, merge3) {
 TEST(DSFMap, mergePairwiseMatches) {
 
   // Create some "matches"
-  typedef pair<size_t,size_t> Match;
-  list<Match> matches;
-  matches += Match(1,2), Match(2,3), Match(4,5), Match(4,6);
+  typedef std::pair<size_t, size_t> Match;
+  const std::list<Match> matches{{1, 2}, {2, 3}, {4, 5}, {4, 6}};
 
   // Merge matches
   DSFMap<size_t> dsf;
@@ -86,18 +82,17 @@ TEST(DSFMap, mergePairwiseMatches) {
 TEST(DSFMap, mergePairwiseMatches2) {
 
   // Create some measurements with image index and feature index
-  typedef pair<size_t,size_t> Measurement;
+  typedef std::pair<size_t,size_t> Measurement;
   Measurement m11(1,1),m12(1,2),m14(1,4); // in image 1
   Measurement m22(2,2),m23(2,3),m25(2,5),m26(2,6); // in image 2
 
   // Add them all
-  list<Measurement> measurements;
-  measurements += m11,m12,m14, m22,m23,m25,m26;
+  const std::list<Measurement> measurements{m11, m12, m14, m22, m23, m25, m26};
 
   // Create some "matches"
-  typedef pair<Measurement,Measurement> Match;
-  list<Match> matches;
-  matches += Match(m11,m22), Match(m12,m23), Match(m14,m25), Match(m14,m26);
+  typedef std::pair<Measurement, Measurement> Match;
+  const std::list<Match> matches{
+      {m11, m22}, {m12, m23}, {m14, m25}, {m14, m26}};
 
   // Merge matches
   DSFMap<Measurement> dsf;
@@ -114,26 +109,16 @@ TEST(DSFMap, mergePairwiseMatches2) {
 /* ************************************************************************* */
 TEST(DSFMap, sets){
   // Create some "matches"
-  typedef pair<size_t,size_t> Match;
-  list<Match> matches;
-  matches += Match(1,2), Match(2,3), Match(4,5), Match(4,6);
+  using Match = std::pair<size_t,size_t>;
+  const std::list<Match> matches{{1, 2}, {2, 3}, {4, 5}, {4, 6}};
 
   // Merge matches
   DSFMap<size_t> dsf;
   for(const Match& m: matches)
     dsf.merge(m.first,m.second);
 
-  map<size_t, set<size_t> > sets = dsf.sets();
-  set<size_t> s1, s2;
-  s1 += 1,2,3;
-  s2 += 4,5,6;
-
-  /*for(key_pair st: sets){
-    cout << "Set " << st.first << " :{";
-    for(const size_t s: st.second)
-      cout << s << ", ";
-    cout << "}" << endl;
-  }*/
+  std::map<size_t, std::set<size_t> > sets = dsf.sets();
+  const std::set<size_t> s1{1, 2, 3}, s2{4, 5, 6};
 
   EXPECT(s1 == sets[1]);
   EXPECT(s2 == sets[4]);

gtsam/base/tests/testDSFVector.cpp

@@ -21,14 +21,15 @@
 #include <CppUnitLite/TestHarness.h>
 
 #include <boost/make_shared.hpp>
-#include <boost/assign/std/list.hpp>
-#include <boost/assign/std/set.hpp>
-#include <boost/assign/std/vector.hpp>
-using namespace boost::assign;
 
 #include <iostream>
+#include <set>
+#include <list>
+#include <utility>
 
-using namespace std;
+using std::pair;
+using std::map;
+using std::vector;
 using namespace gtsam;
 
 /* ************************************************************************* */
@@ -64,8 +65,8 @@ TEST(DSFBase, mergePairwiseMatches) {
 
   // Create some "matches"
   typedef pair<size_t,size_t> Match;
-  vector<Match> matches;
-  matches += Match(1,2), Match(2,3), Match(4,5), Match(4,6);
+  const vector<Match> matches{Match(1, 2), Match(2, 3), Match(4, 5),
+                              Match(4, 6)};
 
   // Merge matches
   DSFBase dsf(7); // We allow for keys 0..6
@@ -85,7 +86,7 @@ TEST(DSFBase, mergePairwiseMatches) {
 /* ************************************************************************* */
 TEST(DSFVector, merge2) {
   boost::shared_ptr<DSFBase::V> v = boost::make_shared<DSFBase::V>(5);
-  std::vector<size_t> keys; keys += 1, 3;
+  const std::vector<size_t> keys {1, 3};
   DSFVector dsf(v, keys);
   dsf.merge(1,3);
   EXPECT(dsf.find(1) == dsf.find(3));
@@ -95,10 +96,10 @@ TEST(DSFVector, merge2) {
 TEST(DSFVector, sets) {
   DSFVector dsf(2);
   dsf.merge(0,1);
-  map<size_t, set<size_t> > sets = dsf.sets();
+  map<size_t, std::set<size_t> > sets = dsf.sets();
   LONGS_EQUAL(1, sets.size());
 
-  set<size_t> expected; expected += 0, 1;
+  const std::set<size_t> expected{0, 1};
   EXPECT(expected == sets[dsf.find(0)]);
 }
 
@@ -109,7 +110,7 @@ TEST(DSFVector, arrays) {
   map<size_t, vector<size_t> > arrays = dsf.arrays();
   LONGS_EQUAL(1, arrays.size());
 
-  vector<size_t> expected; expected += 0, 1;
+  const vector<size_t> expected{0, 1};
   EXPECT(expected == arrays[dsf.find(0)]);
 }
 
@@ -118,10 +119,10 @@ TEST(DSFVector, sets2) {
   DSFVector dsf(3);
   dsf.merge(0,1);
   dsf.merge(1,2);
-  map<size_t, set<size_t> > sets = dsf.sets();
+  map<size_t, std::set<size_t> > sets = dsf.sets();
   LONGS_EQUAL(1, sets.size());
 
-  set<size_t> expected; expected += 0, 1, 2;
+  const std::set<size_t> expected{0, 1, 2};
   EXPECT(expected == sets[dsf.find(0)]);
 }
 
@@ -133,18 +134,18 @@ TEST(DSFVector, arrays2) {
   map<size_t, vector<size_t> > arrays = dsf.arrays();
   LONGS_EQUAL(1, arrays.size());
 
-  vector<size_t> expected; expected += 0, 1, 2;
+  const vector<size_t> expected{0, 1, 2};
   EXPECT(expected == arrays[dsf.find(0)]);
 }
 
 /* ************************************************************************* */
 TEST(DSFVector, sets3) {
   DSFVector dsf(3);
   dsf.merge(0,1);
-  map<size_t, set<size_t> > sets = dsf.sets();
+  map<size_t, std::set<size_t> > sets = dsf.sets();
   LONGS_EQUAL(2, sets.size());
 
-  set<size_t> expected; expected += 0, 1;
+  const std::set<size_t> expected{0, 1};
   EXPECT(expected == sets[dsf.find(0)]);
 }
 
@@ -155,18 +156,18 @@ TEST(DSFVector, arrays3) {
   map<size_t, vector<size_t> > arrays = dsf.arrays();
   LONGS_EQUAL(2, arrays.size());
 
-  vector<size_t> expected; expected += 0, 1;
+  const vector<size_t> expected{0, 1};
   EXPECT(expected == arrays[dsf.find(0)]);
 }
 
 /* ************************************************************************* */
 TEST(DSFVector, set) {
   DSFVector dsf(3);
   dsf.merge(0,1);
-  set<size_t> set = dsf.set(0);
+  std::set<size_t> set = dsf.set(0);
   LONGS_EQUAL(2, set.size());
 
-  std::set<size_t> expected; expected += 0, 1;
+  const std::set<size_t> expected{0, 1};
   EXPECT(expected == set);
 }
 
@@ -175,10 +176,10 @@ TEST(DSFVector, set2) {
   DSFVector dsf(3);
   dsf.merge(0,1);
   dsf.merge(1,2);
-  set<size_t> set = dsf.set(0);
+  std::set<size_t> set = dsf.set(0);
   LONGS_EQUAL(3, set.size());
 
-  std::set<size_t> expected; expected += 0, 1, 2;
+  const std::set<size_t> expected{0, 1, 2};
   EXPECT(expected == set);
 }
 
@@ -195,27 +196,26 @@ TEST(DSFVector, isSingleton) {
 TEST(DSFVector, mergePairwiseMatches) {
 
   // Create some measurements
-  vector<size_t> keys;
-  keys += 1,2,3,4,5,6;
+  const vector<size_t> keys{1, 2, 3, 4, 5, 6};
 
   // Create some "matches"
   typedef pair<size_t,size_t> Match;
-  vector<Match> matches;
-  matches += Match(1,2), Match(2,3), Match(4,5), Match(4,6);
+  const vector<Match> matches{Match(1, 2), Match(2, 3), Match(4, 5),
+                              Match(4, 6)};
 
   // Merge matches
   DSFVector dsf(keys);
   for(const Match& m: matches)
     dsf.merge(m.first,m.second);
 
   // Check that we have two connected components, 1,2,3 and 4,5,6
-  map<size_t, set<size_t> > sets = dsf.sets();
+  map<size_t, std::set<size_t> > sets = dsf.sets();
   LONGS_EQUAL(2, sets.size());
-  set<size_t> expected1; expected1 += 1,2,3;
-  set<size_t> actual1 = sets[dsf.find(2)];
+  const std::set<size_t> expected1{1, 2, 3};
+  std::set<size_t> actual1 = sets[dsf.find(2)];
   EXPECT(expected1 == actual1);
-  set<size_t> expected2; expected2 += 4,5,6;
-  set<size_t> actual2 = sets[dsf.find(5)];
+  const std::set<size_t> expected2{4, 5, 6};
+  std::set<size_t> actual2 = sets[dsf.find(5)];
   EXPECT(expected2 == actual2);
 }
 

gtsam/base/tests/testFastContainers.cpp

@@ -11,12 +11,8 @@
 #include <gtsam/base/FastSet.h>
 #include <gtsam/base/FastVector.h>
 
-#include <boost/assign/std/vector.hpp>
-#include <boost/assign/std/set.hpp>
-
 #include <CppUnitLite/TestHarness.h>
 
-using namespace boost::assign;
 using namespace gtsam;
 
 /* ************************************************************************* */
@@ -25,7 +21,7 @@ TEST( testFastContainers, KeySet ) {
   KeyVector init_vector {2, 3, 4, 5};
 
   KeySet actSet(init_vector);
-  KeySet expSet; expSet += 2, 3, 4, 5;
+  KeySet expSet{2, 3, 4, 5};
   EXPECT(actSet == expSet);
 }