From 09a28ef50605de4b720446dc508e7ea21687ecc7 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Tue, 24 Aug 2021 11:59:22 +0200
Subject: [PATCH] Reduce boost includes
---
.../DebugDrawer/DebugDrawerComponent.cpp | 79 +++++++++----------
.../components/KITHandUnit/KITHandUnit.cpp | 8 +-
.../KITProstheticHandUnit.cpp | 16 ++--
.../components/units/ForceTorqueObserver.cpp | 10 +--
.../units/ForceTorqueUnitSimulation.cpp | 6 +-
.../RobotAPI/components/units/HeadIKUnit.cpp | 10 +--
.../components/units/KinematicUnit.cpp | 11 +--
.../units/KinematicUnitObserver.cpp | 10 +--
.../units/KinematicUnitSimulation.cpp | 1 -
.../units/RobotUnit/BasicControllers.cpp | 27 ++++---
.../CartesianImpedanceController.cpp | 8 +-
.../NJointTaskSpaceImpedanceController.cpp | 10 +--
.../components/units/RobotUnit/PDController.h | 11 +--
.../RobotUnitModuleLogging.cpp | 26 +++---
.../RobotUnitModuleRobotData.cpp | 9 +--
.../RobotUnitModuleSelfCollisionChecker.cpp | 7 +-
.../util/ControlThreadOutputBuffer.h | 30 ++-----
.../components/units/TCPControlUnit.cpp | 11 +--
.../HokuyoLaserUnit/HokuyoLaserUnit.cpp | 5 +-
.../ArViz/ArVizWidgetController.cpp | 12 +--
.../DebugDrawerViewerWidgetController.cpp | 6 +-
.../ArmarXEtherCAT/DeviceContainer.h | 5 ++
.../BimanualGraspCandidateHelper.h | 7 +-
.../GraspingUtility/GraspCandidateHelper.h | 8 +-
.../NJointTaskSpaceImpedanceDMPController.cpp | 6 +-
.../libraries/SimpleTrajectory/Track.cpp | 4 +-
.../libraries/SimpleTrajectory/Trajectory.cpp | 6 +-
.../libraries/SimpleTrajectory/Trajectory.h | 2 +-
.../libraries/SimpleTrajectory/VariantValue.h | 7 +-
.../libraries/SimpleTrajectory/exceptions.cpp | 18 ++---
.../libraries/SimpleTrajectory/exceptions.h | 5 +-
.../SimpleTrajectory/interpolate/linear.cpp | 4 +-
.../SimpleTrajectory/interpolate/linear.h | 13 +--
.../SimpleTrajectory/test/TrajectoryTest.cpp | 2 +-
.../aron/core/test/aronCodeGenerationTest.cpp | 3 -
.../aron/core/test/aronExtendsTest.cpp | 3 -
.../aron/core/test/aronNavigateTest.cpp | 3 -
.../aron/core/test/aronOperatorTest.cpp | 3 -
.../aron/core/test/aronRandomizedTest.cpp | 3 -
.../libraries/core/RobotStatechartContext.cpp | 14 ++--
source/RobotAPI/libraries/core/Trajectory.h | 6 +-
.../core/remoterobot/RemoteRobot.cpp | 25 ++----
.../core/remoterobot/RemoteRobotNode.cpp | 5 +-
.../core/remoterobot/RobotStateObserver.cpp | 12 +--
.../libraries/diffik/DiffIKProvider.h | 7 +-
.../libraries/diffik/GraspTrajectory.h | 31 +++++---
.../libraries/diffik/RobotPlacement.h | 4 +-
47 files changed, 212 insertions(+), 307 deletions(-)
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index b59531d4c..198770875 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -55,8 +55,7 @@
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <boost/algorithm/string/predicate.hpp>
-#include <boost/algorithm/string/replace.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/XML/RobotIO.h>
@@ -68,7 +67,7 @@ using namespace VirtualRobot;
#define SELECTION_NAME_PREFIX ("selection_" + std::to_string(reinterpret_cast<std::uintptr_t>(this)))
#define SELECTION_NAME_SPLITTER "____"
-#define SELECTION_NAME(layerName, elementName) boost::replace_all_copy(std::string(SELECTION_NAME_PREFIX + "_" + layerName + SELECTION_NAME_SPLITTER + elementName), " ", "_").c_str()
+#define SELECTION_NAME(layerName, elementName) simox::alg::replace_all(std::string(SELECTION_NAME_PREFIX + "_" + layerName + SELECTION_NAME_SPLITTER + elementName), " ", "_").c_str()
namespace armarx
{
@@ -1162,7 +1161,7 @@ namespace armarx
return;
}
- std::string entryName = boost::replace_all_copy(std::string("__" + d.layerName + "__" + d.name + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + d.layerName + "__" + d.name + "__"), " ", "_");
VirtualRobot::RobotPtr robot = activeRobots[entryName];
std::vector<std::string> nodeNameList;
@@ -1234,7 +1233,7 @@ namespace armarx
auto l = getScopedVisuLock();
auto& layer = requestLayer(d.layerName);
- std::string entryName = boost::replace_all_copy(std::string("__" + d.layerName + "__" + d.name + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + d.layerName + "__" + d.name + "__"), " ", "_");
ARMARX_DEBUG << "Requesting robot " << entryName;
@@ -1563,7 +1562,7 @@ namespace armarx
auto l = getScopedVisuLock();
// process active robots
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + name + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + name + "__"), " ", "_");
ARMARX_DEBUG << "Removing robot " << entryName;
if (activeRobots.find(entryName) != activeRobots.end())
@@ -1686,7 +1685,7 @@ namespace armarx
Eigen::Matrix4f gp = PosePtr::dynamicCast(globalPose)->toEigen();
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + poseName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + poseName + "__"), " ", "_");
CoordData& d = accumulatedUpdateData.coord[entryName];
d.globalPose = gp;
d.layerName = layerName;
@@ -1715,7 +1714,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + poseName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + poseName + "__"), " ", "_");
CoordData& d = accumulatedUpdateData.coord[entryName];
d.layerName = layerName;
d.name = poseName;
@@ -1735,7 +1734,7 @@ namespace armarx
VirtualRobot::VisualizationFactory::Color c(color.r, color.g, color.b, 1 - color.a);
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + lineName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + lineName + "__"), " ", "_");
LineData& d = accumulatedUpdateData.line[entryName];
d.p1 = p1;
d.p2 = p2;
@@ -1756,7 +1755,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + lineName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + lineName + "__"), " ", "_");
LineData& d = accumulatedUpdateData.line[entryName];
d.layerName = layerName;
d.name = lineName;
@@ -1774,7 +1773,7 @@ namespace armarx
ARMARX_DEBUG << VAROUT(layerName) << VAROUT(lineSetName);
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + lineSetName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + lineSetName + "__"), " ", "_");
LineSetData& d = accumulatedUpdateData.lineSet[entryName];
d.lineSet = lineSet;
d.layerName = layerName;
@@ -1792,7 +1791,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + lineSetName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + lineSetName + "__"), " ", "_");
LineSetData& d = accumulatedUpdateData.lineSet[entryName];
d.layerName = layerName;
d.name = lineSetName;
@@ -1811,7 +1810,7 @@ namespace armarx
VirtualRobot::VisualizationFactory::Color c(color.r, color.g, color.b, 1 - color.a);
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + boxName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + boxName + "__"), " ", "_");
BoxData& d = accumulatedUpdateData.box[entryName];
d.width = dimensions->x;
d.height = dimensions->y;
@@ -1833,7 +1832,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + boxName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + boxName + "__"), " ", "_");
BoxData& d = accumulatedUpdateData.box[entryName];
d.layerName = layerName;
d.name = boxName;
@@ -1851,7 +1850,7 @@ namespace armarx
ARMARX_DEBUG << VAROUT(layerName) << VAROUT(textName);
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + textName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + textName + "__"), " ", "_");
TextData& d = accumulatedUpdateData.text[entryName];
d.text = text;
d.position = Vector3Ptr::dynamicCast(globalPosition)->toEigen();
@@ -1872,7 +1871,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + textName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + textName + "__"), " ", "_");
TextData& d = accumulatedUpdateData.text[entryName];
d.layerName = layerName;
d.name = textName;
@@ -1890,7 +1889,7 @@ namespace armarx
ARMARX_DEBUG << VAROUT(layerName) << VAROUT(sphereName);
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + sphereName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + sphereName + "__"), " ", "_");
SphereData& d = accumulatedUpdateData.sphere[entryName];
d.radius = radius;
d.position = Vector3Ptr::dynamicCast(globalPosition)->toEigen();
@@ -1910,7 +1909,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + sphereName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + sphereName + "__"), " ", "_");
SphereData& d = accumulatedUpdateData.sphere[entryName];
d.layerName = layerName;
d.name = sphereName;
@@ -1928,7 +1927,7 @@ namespace armarx
ARMARX_DEBUG << VAROUT(layerName) << VAROUT(cylinderName);
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + cylinderName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + cylinderName + "__"), " ", "_");
CylinderData& d = accumulatedUpdateData.cylinder[entryName];
d.position = Vector3Ptr::dynamicCast(globalPosition)->toEigen();
d.direction = Vector3Ptr::dynamicCast(direction)->toEigen();
@@ -1950,7 +1949,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + cylinderName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + cylinderName + "__"), " ", "_");
CylinderData& d = accumulatedUpdateData.cylinder[entryName];
d.layerName = layerName;
d.name = cylinderName;
@@ -1968,7 +1967,7 @@ namespace armarx
ARMARX_DEBUG << VAROUT(layerName) << VAROUT(pointCloudName);
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
PointCloudData& d = accumulatedUpdateData.pointcloud[entryName];
d.pointCloud = pointCloud;
d.layerName = layerName;
@@ -1986,7 +1985,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
PointCloudData& d = accumulatedUpdateData.pointcloud[entryName];
d.layerName = layerName;
d.name = pointCloudName;
@@ -2003,7 +2002,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + polygonName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + polygonName + "__"), " ", "_");
PolygonData& d = accumulatedUpdateData.polygons[entryName];
std::vector< Eigen::Vector3f > points;
@@ -2034,7 +2033,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + polygonName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + polygonName + "__"), " ", "_");
PolygonData& d = accumulatedUpdateData.polygons[entryName];
d.layerName = layerName;
d.name = polygonName;
@@ -2051,7 +2050,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + triMeshName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + triMeshName + "__"), " ", "_");
TriMeshData& d = accumulatedUpdateData.triMeshes[entryName];
d.triMesh = triMesh;
d.layerName = layerName;
@@ -2069,7 +2068,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + triMeshName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + triMeshName + "__"), " ", "_");
TriMeshData& d = accumulatedUpdateData.triMeshes[entryName];
d.layerName = layerName;
d.name = triMeshName;
@@ -2086,7 +2085,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + arrowName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + arrowName + "__"), " ", "_");
ArrowData& d = accumulatedUpdateData.arrows[entryName];
d.position = Vector3Ptr::dynamicCast(position)->toEigen();
d.direction = Vector3Ptr::dynamicCast(direction)->toEigen();
@@ -2108,7 +2107,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + arrowName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + arrowName + "__"), " ", "_");
ArrowData& d = accumulatedUpdateData.arrows[entryName];
d.layerName = layerName;
d.name = arrowName;
@@ -2124,7 +2123,7 @@ namespace armarx
void DebugDrawerComponent::setRobotVisu(const std::string& layerName, const std::string& robotName, const std::string& robotFile, const std::string& armarxProject, DrawStyle drawStyle, const Ice::Current&)
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
ARMARX_DEBUG << "setting robot visualization for " << entryName;
RobotData& d = accumulatedUpdateData.robots[entryName];
@@ -2140,7 +2139,7 @@ namespace armarx
void DebugDrawerComponent::updateRobotPose(const std::string& layerName, const std::string& robotName, const PoseBasePtr& globalPose, const Ice::Current&)
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
ARMARX_DEBUG << "updating robot pose for " << entryName;
RobotData& d = accumulatedUpdateData.robots[entryName];
@@ -2157,7 +2156,7 @@ namespace armarx
void DebugDrawerComponent::updateRobotConfig(const std::string& layerName, const std::string& robotName, const std::map<std::string, float>& configuration, const Ice::Current&)
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
ARMARX_DEBUG << "updating robot config for " << entryName;
RobotData& d = accumulatedUpdateData.robots[entryName];
@@ -2178,7 +2177,7 @@ namespace armarx
void DebugDrawerComponent::updateRobotColor(const std::string& layerName, const std::string& robotName, const DrawColor& c, const Ice::Current&)
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
ARMARX_DEBUG << "updating robot color for " << entryName;
RobotData& d = accumulatedUpdateData.robots[entryName];
@@ -2203,7 +2202,7 @@ namespace armarx
void DebugDrawerComponent::updateRobotNodeColor(const std::string& layerName, const std::string& robotName, const std::string& robotNodeName, const DrawColor& c, const Ice::Current&)
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
ARMARX_DEBUG << "updating robot color for " << entryName;
RobotData& d = accumulatedUpdateData.robots[entryName];
@@ -2229,7 +2228,7 @@ namespace armarx
void DebugDrawerComponent::removeRobotVisu(const std::string& layerName, const std::string& robotName, const Ice::Current&)
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + robotName + "__"), " ", "_");
ARMARX_DEBUG << "removing robot visu for " << entryName;
RobotData& d = accumulatedUpdateData.robots[entryName];
@@ -2760,7 +2759,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
ColoredPointCloudData& d = accumulatedUpdateData.coloredpointcloud[entryName];
d.pointCloud = pointCloud;
d.layerName = layerName;
@@ -2778,7 +2777,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
ColoredPointCloudData& d = accumulatedUpdateData.coloredpointcloud[entryName];
d.layerName = layerName;
d.name = pointCloudName;
@@ -2876,7 +2875,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
Colored24BitPointCloudData& d = accumulatedUpdateData.colored24Bitpointcloud[entryName];
d.pointCloud = pointCloud;
d.layerName = layerName;
@@ -2894,7 +2893,7 @@ namespace armarx
{
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + pointCloudName + "__"), " ", "_");
Colored24BitPointCloudData& d = accumulatedUpdateData.colored24Bitpointcloud[entryName];
d.layerName = layerName;
d.name = pointCloudName;
@@ -2911,7 +2910,7 @@ namespace armarx
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + circleName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + circleName + "__"), " ", "_");
CircleData& d = accumulatedUpdateData.circle[entryName];
d.position = Vector3Ptr::dynamicCast(globalPosition)->toEigen();
d.direction = Vector3Ptr::dynamicCast(directionVec)->toEigen();
@@ -2934,7 +2933,7 @@ namespace armarx
{
auto l = getScopedAccumulatedDataLock();
- std::string entryName = boost::replace_all_copy(std::string("__" + layerName + "__" + circleName + "__"), " ", "_");
+ std::string entryName = simox::alg::replace_all(std::string("__" + layerName + "__" + circleName + "__"), " ", "_");
CircleData& d = accumulatedUpdateData.circle[entryName];
d.layerName = layerName;
d.name = circleName;
diff --git a/source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp b/source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp
index b3cb24cfd..e7d20106e 100644
--- a/source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp
+++ b/source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp
@@ -20,12 +20,12 @@
* GNU General Public License
*/
-#include <boost/algorithm/clamp.hpp>
-
#include "KITHandUnit.h"
#include <ArmarXCore/core/ArmarXManager.h>
#include <ArmarXGui/libraries/RemoteGui/WidgetBuilder.h>
+#include <algorithm>
+
using namespace KITHand;
namespace armarx
@@ -163,7 +163,7 @@ namespace armarx
{
if (pair.first == "Fingers")
{
- const std::uint64_t pos = boost::algorithm::clamp(
+ const std::uint64_t pos = std::clamp(
static_cast<std::uint64_t>(pair.second * KITHand::ControlOptions::maxPosFingers),
0, KITHand::ControlOptions::maxPosFingers);
ARMARX_DEBUG << deactivateSpam(1, std::to_string(pos)) << "set fingers " << pos;
@@ -171,7 +171,7 @@ namespace armarx
}
else if (pair.first == "Thumb")
{
- const std::uint64_t pos = boost::algorithm::clamp(
+ const std::uint64_t pos = std::clamp(
static_cast<std::uint64_t>(pair.second * KITHand::ControlOptions::maxPosThumb),
0, KITHand::ControlOptions::maxPosThumb);
ARMARX_DEBUG << deactivateSpam(1, std::to_string(pos)) << "set thumb " << pos;
diff --git a/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp b/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp
index b68904c7c..a36bdd9da 100644
--- a/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp
+++ b/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp
@@ -20,16 +20,14 @@
* GNU General Public License
*/
-#include <thread>
-#include <regex>
-
-#include <boost/algorithm/clamp.hpp>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include "KITProstheticHandUnit.h"
#include <ArmarXGui/libraries/RemoteGui/WidgetBuilder.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "KITProstheticHandUnit.h"
+#include <algorithm>
+#include <thread>
+#include <regex>
namespace armarx
{
@@ -153,7 +151,7 @@ namespace armarx
{
if (pair.first == "Fingers")
{
- const std::uint64_t pos = boost::algorithm::clamp(
+ const std::uint64_t pos = std::clamp(
static_cast<std::uint64_t>(pair.second * _driver->getMaxPosFingers()),
0, _driver->getMaxPosFingers());
ARMARX_INFO << "set fingers " << pos;
@@ -163,7 +161,7 @@ namespace armarx
}
else if (pair.first == "Thumb")
{
- const std::uint64_t pos = boost::algorithm::clamp(
+ const std::uint64_t pos = std::clamp(
static_cast<std::uint64_t>(pair.second * _driver->getMaxPosThumb()),
0, _driver->getMaxPosThumb());
ARMARX_INFO << "set thumb " << pos;
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index 3d44b1046..4a99205ed 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -36,7 +36,7 @@
#include <RobotAPI/libraries/core/RobotAPIObjectFactories.h>
-#include <boost/algorithm/string/trim.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#define RAWFORCE "_rawforcevectors"
#define OFFSETFORCE "_forceswithoffsetvectors"
@@ -85,14 +85,14 @@ namespace armarx
auto sensorRobotNodeSplit = armarx::Split(getProperty<std::string>("SensorRobotNodeMapping").getValue(), ",");
for (auto& elem : sensorRobotNodeSplit)
{
- boost::trim(elem);
+ simox::alg::trim(elem);
auto split = armarx::Split(elem, ":");
if (split.size() >= 2)
{
sensorRobotNodeMapping.emplace(
- boost::trim_copy(split.at(0)),
- std::make_pair(boost::trim_copy(split.at(1)),
- split.size() >= 3 ? boost::trim_copy(split.at(2)) : ""));
+ simox::alg::trim_copy(split.at(0)),
+ std::make_pair(simox::alg::trim_copy(split.at(1)),
+ split.size() >= 3 ? simox::alg::trim_copy(split.at(2)) : ""));
}
}
}
diff --git a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp
index 6cfb8340d..2a4d495c8 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp
@@ -27,7 +27,7 @@
#include <ArmarXCore/core/util/StringHelpers.h>
-#include <boost/algorithm/string.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
namespace armarx
{
@@ -38,10 +38,8 @@ namespace armarx
sensorNamesList = Split(getProperty<std::string>("SensorNames").getValue(), ",");
for (auto& sensor : sensorNamesList)
{
- boost::trim(sensor);
+ simox::alg::trim(sensor);
}
- //std::vector<std::string> sensorNamesList;
- //boost::split(sensorNamesList, sensorNames, boost::is_any_of(","));
for (std::vector<std::string>::iterator s = sensorNamesList.begin(); s != sensorNamesList.end(); s++)
{
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 8e3037bad..1bbf0abff 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -31,14 +31,10 @@
#include <VirtualRobot/IK/GazeIK.h>
#include <VirtualRobot/LinkedCoordinate.h>
-#include <boost/algorithm/string/trim.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
-#include <boost/shared_ptr.hpp>
#include <memory>
-using boost::dynamic_pointer_cast;
-using std::dynamic_pointer_cast;
-
namespace armarx
{
@@ -147,7 +143,7 @@ namespace armarx
this->robotNodeSetNames = armarx::Split(robotNodeSetName, ",");
for (auto& setName : robotNodeSetNames)
{
- boost::trim(setName);
+ simox::alg::trim(setName);
}
this->targetPosition->x = targetPosition->x;
this->targetPosition->y = targetPosition->y;
@@ -311,7 +307,7 @@ namespace armarx
auto tcpNode = kinematicChain->getTCP();
VirtualRobot::RobotNodePrismaticPtr virtualPrismaticJoint;
- virtualPrismaticJoint = dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(tcpNode);
+ virtualPrismaticJoint = std::dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(tcpNode);
if (!virtualPrismaticJoint)
{
ARMARX_WARNING << deactivateSpam(10, robotNodeSetName) << "Head IK Kinematic Chain TCP is not a prismatic joint! skipping joint set";
diff --git a/source/RobotAPI/components/units/KinematicUnit.cpp b/source/RobotAPI/components/units/KinematicUnit.cpp
index 5df973345..9c046e0c7 100644
--- a/source/RobotAPI/components/units/KinematicUnit.cpp
+++ b/source/RobotAPI/components/units/KinematicUnit.cpp
@@ -29,13 +29,11 @@
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/VirtualRobotException.h>
-#include <VirtualRobot/RuntimeEnvironment.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/application/Application.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <boost/algorithm/string/split.hpp>
-#include <boost/algorithm/string/classification.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
namespace armarx
{
@@ -68,12 +66,9 @@ namespace armarx
if (!project.empty())
{
CMakePackageFinder finder(project);
- Ice::StringSeq projectIncludePaths;
+
auto pathsString = finder.getDataDir();
- boost::split(projectIncludePaths,
- pathsString,
- boost::is_any_of(";,"),
- boost::token_compress_on);
+ Ice::StringSeq projectIncludePaths = simox::alg::split(pathsString, ";,");
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
}
std::string robotFile = relativeRobotFile;
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.cpp b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
index 1dacd798c..64fcc6bf3 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
@@ -38,8 +38,7 @@
#include <VirtualRobot/Nodes/RobotNode.h>
#include <ArmarXCore/observers/checks/ConditionCheckEqualsWithTolerance.h>
-#include <boost/algorithm/string/split.hpp>
-#include <boost/algorithm/string/classification.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
namespace armarx
{
@@ -73,12 +72,9 @@ namespace armarx
if (!project.empty())
{
CMakePackageFinder finder(project);
- Ice::StringSeq projectIncludePaths;
+
auto pathsString = finder.getDataDir();
- boost::split(projectIncludePaths,
- pathsString,
- boost::is_any_of(";,"),
- boost::token_compress_on);
+ Ice::StringSeq projectIncludePaths = simox::alg::split(pathsString, ";,");
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
}
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
index 69dbe9ee5..643995773 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
@@ -30,7 +30,6 @@
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/VirtualRobotException.h>
-#include <VirtualRobot/RuntimeEnvironment.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/util/algorithm.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp b/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
index e106a9dbb..f779b851b 100644
--- a/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
@@ -22,11 +22,12 @@
#include "BasicControllers.h"
-#include <boost/algorithm/clamp.hpp>
-
#include <ArmarXCore/core/util/algorithm.h>
#include <ArmarXCore/core/logging/Logging.h>
#include "util/CtrlUtil.h"
+
+#include <algorithm>
+
namespace armarx
{
float velocityControlWithAccelerationBounds(
@@ -40,7 +41,7 @@ namespace armarx
maxV = std::abs(maxV);
acceleration = std::abs(acceleration);
deceleration = std::abs(deceleration);
- targetV = boost::algorithm::clamp(targetV, -maxV, maxV);
+ targetV = std::clamp(targetV, -maxV, maxV);
//we can have 3 cases:
// 1. we directly set v and ignore acc/dec (if |curr - target| <= limit)
@@ -67,7 +68,7 @@ namespace armarx
return targetV;
}
- const float deltaVel = boost::algorithm::clamp(sign(currentV) * usedacc * dt, -maxDeltaV, maxDeltaV);
+ const float deltaVel = std::clamp(sign(currentV) * usedacc * dt, -maxDeltaV, maxDeltaV);
const float nextV = currentV + deltaVel;
return nextV;
}
@@ -123,7 +124,7 @@ namespace armarx
// s = v²/(2a) <=> a = v²/(2s)
const float dec = std::abs(vsquared / 2.f / wayToGo);
const float vel = currentV - sign(currentV) * dec * upperDt;
- nextv = boost::algorithm::clamp(vel, -maxV, maxV);
+ nextv = std::clamp(vel, -maxV, maxV);
if (sign(currentV) != sign(nextv))
{
//stop now
@@ -182,9 +183,9 @@ namespace armarx
sign(posErrorIfBrakingNow) != signV; // we are moving away from the target
const float usedacc = decelerate ? -deceleration : acceleration;
const float maxDeltaV = std::abs(usedacc * dt);
- const float deltaVel = boost::algorithm::clamp(signV * usedacc * dt, -maxDeltaV, maxDeltaV);
+ const float deltaVel = std::clamp(signV * usedacc * dt, -maxDeltaV, maxDeltaV);
- float newTargetVel = boost::algorithm::clamp(currentV + deltaVel, -maxV, maxV);
+ float newTargetVel = std::clamp(currentV + deltaVel, -maxV, maxV);
bool usePID = std::abs(newTargetVelPController) < std::abs(newTargetVel);
// ARMARX_INFO << deactivateSpam(0.01) << VAROUT(usePID) << VAROUT(dt) << VAROUT(decelerate) << VAROUT(usedacc) << VAROUT(maxDeltaV) << VAROUT(deltaVel) << VAROUT(newTargetVel) << VAROUT(newTargetVelPController)
// << VAROUT(currentPosition) << VAROUT(targetPosition);
@@ -241,7 +242,7 @@ namespace armarx
dt, maxDt,
currentV, maxV,
acceleration, deceleration,
- currentPosition, boost::algorithm::clamp(targetPosition, positionLimitLo, positionLimitHi),
+ currentPosition, std::clamp(targetPosition, positionLimitLo, positionLimitHi),
p
);
}
@@ -345,7 +346,7 @@ namespace armarx
return targetV;
}
- const float deltaVel = boost::algorithm::clamp(sign(currentV) * usedacc * useddt, -maxDeltaV, maxDeltaV);
+ const float deltaVel = std::clamp(sign(currentV) * usedacc * useddt, -maxDeltaV, maxDeltaV);
const float nextV = currentV + deltaVel;
return nextV;
}
@@ -487,7 +488,7 @@ namespace armarx
// s = v²/(2a) <=> a = v²/(2s)
const float dec = std::abs(vsquared / 2.f / wayToGo);
const float vel = currentV - sign(currentV) * dec * upperDt;
- nextv = boost::algorithm::clamp(vel, -maxV, maxV);
+ nextv = std::clamp(vel, -maxV, maxV);
// ARMARX_INFO << deactivateSpam(1) << "clamped new Vel: " << VAROUT(nextv);
if (sign(currentV) != sign(nextv))
{
@@ -579,7 +580,7 @@ namespace armarx
const float usedacc = decelerate ? -usedDeceleration : acceleration;
const float deltaVel = signV * usedacc * useddt;
- float newTargetVelRampCtrl = boost::algorithm::clamp(currentV + deltaVel, -maxV, maxV);
+ float newTargetVelRampCtrl = std::clamp(currentV + deltaVel, -maxV, maxV);
bool PIDActive = /*std::abs(newTargetVelPController) < std::abs(newTargetVelRampCtrl)
|| std::abs(newTargetVelPController) < pControlVelLimit ||*/
std::abs(positionError) < pControlPosErrorLimit;
@@ -960,7 +961,7 @@ namespace armarx
sign(posErrorIfBrakingNow) != signV; // we are moving away from the target
const double deltaVel = ctrlutil::v(useddt, 0, newAcceleration, usedJerk);//signV * newAcceleration * useddt;
double newTargetVelRampCtrl = ctrlutil::v(useddt, currentV, currentAcc, usedJerk);//boost::algorithm::clamp(currentV + deltaVel, -maxV, maxV);
- newTargetVelRampCtrl = boost::algorithm::clamp(newTargetVelRampCtrl, -maxV, maxV);
+ newTargetVelRampCtrl = std::clamp(newTargetVelRampCtrl, -maxV, maxV);
bool usePID = std::abs(newTargetVelPController) < std::abs(newTargetVelRampCtrl); //||
// std::abs(newTargetVelPController) < pControlVelLimit &&
//std::abs(positionError) < pControlPosErrorLimit;
@@ -1335,7 +1336,7 @@ namespace armarx
// s = v²/(2a) <=> a = v²/(2s)
const double dec = std::abs(vsquared / 2.0 / wayToGo);
const double vel = currentV - sign(currentV) * dec * upperDt;
- nextv = boost::algorithm::clamp(vel, -maxV, maxV);
+ nextv = std::clamp<double>(vel, -maxV, maxV);
// ARMARX_INFO /*<< deactivateSpam(0.1)*/ << "clamped new Vel: " << VAROUT(nextv) << VAROUT(currentV);
if (sign(currentV) != sign(nextv))
{
diff --git a/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp
index 1af55624f..a2cce575f 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp
@@ -1,4 +1,5 @@
-#include <boost/algorithm/clamp.hpp>
+
+#include "CartesianImpedanceController.h"
#include <SimoxUtility/math/convert/mat4f_to_pos.h>
#include <SimoxUtility/math/convert/mat4f_to_quat.h>
@@ -6,7 +7,8 @@
#include <VirtualRobot/MathTools.h>
-#include "CartesianImpedanceController.h"
+#include <algorithm>
+
using namespace armarx;
@@ -112,7 +114,7 @@ const Eigen::VectorXf& CartesianImpedanceController::run(
(I - jacobi.transpose() * jtpinv) * nullspaceTorque;
for (int i = 0; i < targetJointTorques.size(); ++i)
{
- targetJointTorques(i) = boost::algorithm::clamp(targetJointTorques(i), -cfg.torqueLimit, cfg.torqueLimit);
+ targetJointTorques(i) = std::clamp(targetJointTorques(i), -cfg.torqueLimit, cfg.torqueLimit);
}
//write debug data
{
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
index 36c2bbdeb..61ff24e37 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
@@ -19,15 +19,11 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <boost/algorithm/clamp.hpp>
+
+#include "NJointTaskSpaceImpedanceController.h"
#include <SimoxUtility/math/convert/mat4f_to_pos.h>
#include <SimoxUtility/math/convert/mat4f_to_quat.h>
-#include <SimoxUtility/math/compare/is_equal.h>
-
-#include <VirtualRobot/MathTools.h>
-
-#include "NJointTaskSpaceImpedanceController.h"
using namespace armarx;
@@ -100,7 +96,7 @@ void NJointTaskSpaceImpedanceController::rtRun(const IceUtil::Time& /*sensorValu
velocitySensors,
positionSensors
);
- ARMARX_CHECK_EXPRESSION(simox::math::is_equal(targets.size(), jointDesiredTorques.size()));
+ ARMARX_CHECK_EQUAL(targets.size(), jointDesiredTorques.size());
for (size_t i = 0; i < targets.size(); ++i)
{
diff --git a/source/RobotAPI/components/units/RobotUnit/PDController.h b/source/RobotAPI/components/units/RobotUnit/PDController.h
index e534efd0c..87abee658 100644
--- a/source/RobotAPI/components/units/RobotUnit/PDController.h
+++ b/source/RobotAPI/components/units/RobotUnit/PDController.h
@@ -23,11 +23,6 @@
#include <algorithm>
#include <cmath>
-#include <tuple>
-
-#include <boost/algorithm/clamp.hpp>
-
-#include <ArmarXCore/core/util/algorithm.h>
namespace armarx
{
@@ -310,7 +305,7 @@ namespace armarx
}
if (maxError != 0)
{
- error = boost::algorithm::clamp(error, -maxError, +maxError);
+ error = std::clamp(error, -maxError, +maxError);
}
const FloatingType pOut = Kp * error;
@@ -328,11 +323,11 @@ namespace armarx
if (outRampDelta != 0)
{
- out = boost::algorithm::clamp(out, lastOutValue - outRampDelta, lastOutValue + outRampDelta);
+ out = std::clamp(out, lastOutValue - outRampDelta, lastOutValue + outRampDelta);
}
if (limitOutLo != limitOutHi)
{
- out = boost::algorithm::clamp(out, limitOutLo, limitOutHi);
+ out = std::clamp(out, limitOutLo, limitOutHi);
}
if (lastOutInterpolation != 0)
{
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index da2024265..33bdd5efd 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -20,9 +20,6 @@
* GNU General Public License
*/
-#include <regex>
-
-#include <boost/iterator/transform_iterator.hpp>
#include <ArmarXCore/util/CPPUtility/trace.h>
#include <ArmarXCore/util/CPPUtility/Iterator.h>
@@ -36,7 +33,8 @@
#include "../util/ControlThreadOutputBuffer.h"
-#include <boost/algorithm/string/predicate.hpp>
+#include <regex>
+
namespace armarx::RobotUnitModule::details
{
struct DoLoggingDurations
@@ -122,25 +120,21 @@ namespace armarx::RobotUnitModule
ARMARX_TRACE;
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
Ice::StringSeq result;
- const auto getName = [](const auto & fieldData)
- {
- return fieldData.name;
- };
for (const auto& data : sensorDeviceValueMetaData)
{
- result.insert(
- result.end(),
- boost::make_transform_iterator(data.fields.begin(), getName),
- boost::make_transform_iterator(data.fields.end(), getName));
+ for (auto& fieldData : data.fields)
+ {
+ result.push_back(fieldData.name);
+ }
}
for (const auto& datas : controlDeviceValueMetaData)
{
for (const auto& data : datas)
{
- result.insert(
- result.end(),
- boost::make_transform_iterator(data.fields.begin(), getName),
- boost::make_transform_iterator(data.fields.end(), getName));
+ for (auto& fieldData : data.fields)
+ {
+ result.push_back(fieldData.name);
+ }
}
}
return result;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
index 955a33605..b60019683 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
@@ -30,9 +30,7 @@
#include "RobotUnitModuleRobotData.h"
-#include <boost/algorithm/string/split.hpp>
-#include <boost/algorithm/string/classification.hpp>
-#include <boost/algorithm/string/trim.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
namespace armarx::RobotUnitModule
{
@@ -112,10 +110,7 @@ namespace armarx::RobotUnitModule
{
CMakePackageFinder finder(robotProjectName);
auto pathsString = finder.getDataDir();
- boost::split(includePaths,
- pathsString,
- boost::is_any_of(";,"),
- boost::token_compress_on);
+ includePaths = simox::alg::split(pathsString, ";,");
ArmarXDataPath::addDataPaths(includePaths);
}
if (!ArmarXDataPath::getAbsolutePath(robotFileName, robotFileName, includePaths))
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
index 1e0ce16e1..e65e6506a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
@@ -29,8 +29,7 @@
#include "../NJointControllers/NJointController.h"
-#include <boost/algorithm/string/trim.hpp>
-#include <boost/algorithm/string/classification.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#define FLOOR_OBJ_STR "FLOOR"
@@ -54,7 +53,7 @@ namespace armarx::RobotUnitModule
{
ARMARX_DEBUG << "---- group: " << group;
// Removing parentheses
- boost::trim_if(group, boost::is_any_of(" \t{}"));
+ simox::alg::trim_if(group, " \t{}");
std::set<std::set<std::string>> setsOfNode;
{
auto splittedRaw = armarx::Split(group, ",", true, true);
@@ -64,7 +63,7 @@ namespace armarx::RobotUnitModule
}
for (auto& subentry : splittedRaw)
{
- boost::trim_if(subentry, boost::is_any_of(" \t{}"));
+ simox::alg::trim_if(subentry, " \t{}");
if (selfCollisionAvoidanceRobot->hasRobotNodeSet(subentry))
{
std::set<std::string> nodes;
diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
index ef9e3aed2..25c81d4ac 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
@@ -24,20 +24,18 @@
#include "HeterogenousContinuousContainer.h"
-#include <vector>
+#include "../SensorValues/SensorValueBase.h"
+#include "../ControlTargets/ControlTargetBase.h"
-#include <boost/format.hpp>
+#include "../Devices/SensorDevice.h"
+#include "../Devices/ControlDevice.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/util/StringHelperTemplates.h>
#include <ArmarXCore/core/util/PropagateConst.h>
#include <ArmarXCore/core/util/TripleBuffer.h>
-#include "../SensorValues/SensorValueBase.h"
-#include "../ControlTargets/ControlTargetBase.h"
-
-#include "../Devices/SensorDevice.h"
-#include "../Devices/ControlDevice.h"
+#include <vector>
namespace armarx
{
@@ -52,23 +50,6 @@ namespace armarx::RobotUnitModule
namespace armarx::detail
{
- inline std::string armarx_sprintf_helper(boost::format& f)
- {
- return boost::str(f);
- }
-
- template<class T, class... Args>
- inline std::string armarx_sprintf_helper(boost::format& f, T&& t, Args&& ... args)
- {
- return armarx_sprintf_helper(f % std::forward<T>(t), std::forward<Args>(args)...);
- }
- template<class... Args>
- inline std::string armarx_sprintf(const std::string& formatString, Args&& ... args)
- {
- boost::format f(formatString);
- return ::armarx::detail::armarx_sprintf_helper(f, std::forward<Args>(args)...);
- }
-
struct RtMessageLogEntryBase
{
RtMessageLogEntryBase():
@@ -278,7 +259,6 @@ namespace armarx
}
#define _detail_ARMARX_RT_REDIRECT( ...) ([&]{ \
- ::armarx::detail::armarx_sprintf(__VA_ARGS__); \
ARMARX_INFO << deactivateSpam(1) << "Redirected RT Logging:\n";\
return &::armarx::detail::RtMessageLogEntryNull::Instance;}())
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 9c434042b..4f79878ee 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -31,10 +31,9 @@
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/MathTools.h>
-#include <Eigen/Core>
+#include <SimoxUtility/algorithm/string/string_tools.h>
-#include <boost/algorithm/string/split.hpp>
-#include <boost/algorithm/string/classification.hpp>
+#include <Eigen/Core>
#include <memory>
#include <cfloat>
@@ -101,11 +100,7 @@ namespace armarx
}
else
{
- std::vector<std::string> nodesetNames;
- boost::split(nodesetNames,
- nodesetsString,
- boost::is_any_of(","),
- boost::token_compress_on);
+ std::vector<std::string> nodesetNames = simox::alg::split(nodesetsString, ",");
for (auto& name : nodesetNames)
{
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
index af108e0e0..52af2c8dd 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
@@ -24,10 +24,11 @@
#include <ArmarXCore/observers/variant/TimestampVariant.h>
-#include <boost/algorithm/string/replace.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <HokuyoLaserScannerDriver/urg_utils.h>
+
using namespace armarx;
@@ -277,7 +278,7 @@ void HokuyoLaserScanDevice::run()
durations["update_ms"] = new Variant((time_update - time_measure).toMilliSecondsDouble());
durations["topic_sensor_ms"] = new Variant((time_topicSensor - time_update).toMilliSecondsDouble());
durations["topic_health_ms"] = new Variant((time_topicHeartbeat - time_topicSensor).toMilliSecondsDouble());
- debugObserver->setDebugChannel("LaserScannerDuration_" + boost::replace_all_copy(ip, ".", "_"), durations);
+ debugObserver->setDebugChannel("LaserScannerDuration_" + simox::alg::replace_all(ip, ".", "_"), durations);
if (duration.toSecondsDouble() > 0.1)
{
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index c379eed20..4b34e9a3a 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -24,19 +24,15 @@
#include <RobotAPI/components/ArViz/Coin/VisualizationObject.h>
#include <RobotAPI/components/ArViz/Coin/VisualizationRobot.h>
-#include <string>
-
#include <ArmarXCore/core/ArmarXManager.h>
+#include <ArmarXCore/observers/variant/Variant.h>
+
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <QLineEdit>
#include <QMessageBox>
#include <QTimer>
-
-#include <ArmarXCore/observers/variant/Variant.h>
-
-
#include <QFileDialog>
-#include <boost/algorithm/string/predicate.hpp>
#define ENABLE_INTROSPECTION 1
@@ -1065,7 +1061,7 @@ namespace armarx
{
return;
}
- if (!boost::algorithm::ends_with(s, ".wrl"))
+ if (!simox::alg::ends_with(s, ".wrl"))
{
s += ".wrl";
}
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp
index f4a9f5673..9c437484c 100644
--- a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp
@@ -23,9 +23,9 @@
#include <ArmarXCore/core/ArmarXManager.h>
-#include <QTimer>
+#include <SimoxUtility/algorithm/string/string_tools.h>
-#include <boost/algorithm/string/join.hpp>
+#include <QTimer>
#include <string>
@@ -282,7 +282,7 @@ namespace armarx
{
std::stringstream itemText;
itemText << layer.layerName
- << " (" << boost::algorithm::join(annotations, ", ") << ")";
+ << " (" << simox::alg::join(annotations, ", ") << ")";
return { itemText.str().c_str() };
}
}
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h
index 52288ccc8..538c1b5cb 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.h
@@ -26,6 +26,11 @@
#include <memory>
#include <VirtualRobot/VirtualRobot.h>
+// These includes are only here because Armar6RT is currently locked (missing include in Slave.cpp)
+// TODO: Remove once Armar6RT includes the needed headers
+#include <boost/core/demangle.hpp>
+#include <boost/optional.hpp>
+
namespace armarx
{
class MultiNodeRapidXMLReader;
diff --git a/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.h b/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.h
index 19a474878..1b2e9b10c 100644
--- a/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.h
+++ b/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.h
@@ -23,17 +23,18 @@
#pragma once
-#include <boost/shared_ptr.hpp>
#include <RobotAPI/interface/units/GraspCandidateProviderInterface.h>
+#include <RobotAPI/libraries/core/Pose.h>
#include <VirtualRobot/Robot.h>
-#include <RobotAPI/libraries/core/Pose.h>
+#include <memory>
+
namespace armarx
{
- typedef boost::shared_ptr<class BimanualGraspCandidateHelper> BimanualGraspCandidateHelperPtr;
+ typedef std::shared_ptr<class BimanualGraspCandidateHelper> BimanualGraspCandidateHelperPtr;
class BimanualGraspCandidateHelper
{
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.h b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.h
index 050958f91..0fa9fe1ea 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.h
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.h
@@ -23,17 +23,17 @@
#pragma once
-#include <boost/shared_ptr.hpp>
-
#include <RobotAPI/interface/units/GraspCandidateProviderInterface.h>
+#include <RobotAPI/libraries/core/Pose.h>
#include <VirtualRobot/Robot.h>
-#include <RobotAPI/libraries/core/Pose.h>
+#include <memory>
+
namespace armarx
{
- typedef boost::shared_ptr<class GraspCandidateHelper> GraspCandidateHelperPtr;
+ typedef std::shared_ptr<class GraspCandidateHelper> GraspCandidateHelperPtr;
class GraspCandidateHelper
{
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 0a08c5396..90e2cb1f2 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -741,7 +741,7 @@ namespace armarx
void NJointTaskSpaceImpedanceDMPController::setNullspaceVelocityKd(const Eigen::VectorXf& kd, const Ice::Current&)
{
- ARMARX_CHECK_EQUAL(kd.size(), targets.size());
+ ARMARX_CHECK_EQUAL((std::size_t)kd.size(), targets.size());
ARMARX_INFO << "set nullspace kd " << VAROUT(kd);
LockGuardType guard(controllerMutex);
ctrlParams.getWriteBuffer().dnull = kd;
@@ -750,7 +750,7 @@ namespace armarx
void NJointTaskSpaceImpedanceDMPController::setNullspaceVelocityKp(const Eigen::VectorXf& kp, const Ice::Current&)
{
- ARMARX_CHECK_EQUAL(kp.size(), targets.size());
+ ARMARX_CHECK_EQUAL((std::size_t)kp.size(), targets.size());
ARMARX_INFO << "set linear kp " << VAROUT(kp);
LockGuardType guard(controllerMutex);
ctrlParams.getWriteBuffer().knull = kp;
@@ -761,7 +761,7 @@ namespace armarx
void NJointTaskSpaceImpedanceDMPController::setDefaultNullSpaceJointValues(const Eigen::VectorXf& jointValues,
const Ice::Current&)
{
- ARMARX_CHECK_EQUAL(jointValues.size(), targets.size());
+ ARMARX_CHECK_EQUAL((std::size_t)jointValues.size(), targets.size());
defaultNullSpaceJointValues.getWriteBuffer() = jointValues;
defaultNullSpaceJointValues.commitWrite();
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/Track.cpp b/source/RobotAPI/libraries/SimpleTrajectory/Track.cpp
index 6f6bd2970..88258722f 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/Track.cpp
+++ b/source/RobotAPI/libraries/SimpleTrajectory/Track.cpp
@@ -7,9 +7,9 @@ namespace armarx::trajectory
template <>
void Track<VariantValue>::checkValueType(const VariantValue& value)
{
- if (!empty() && value.type() != keyframes.front().value.type())
+ if (!empty() && value.index() != keyframes.front().value.index())
{
- throw error::WrongValueTypeInKeyframe(id, value.type(), keyframes.front().value.type());
+ throw error::WrongValueTypeInKeyframe(id, value.index(), keyframes.front().value.index());
}
}
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/Trajectory.cpp b/source/RobotAPI/libraries/SimpleTrajectory/Trajectory.cpp
index 5211a5044..3dad90458 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/Trajectory.cpp
+++ b/source/RobotAPI/libraries/SimpleTrajectory/Trajectory.cpp
@@ -82,7 +82,7 @@ namespace armarx
{
return [func](VariantValue value)
{
- func(boost::get<float>(value));
+ func(std::get<float>(value));
};
}
@@ -90,7 +90,7 @@ namespace armarx
{
return [func](VariantValue value)
{
- func(boost::get<Eigen::MatrixXf>(value));
+ func(std::get<Eigen::MatrixXf>(value));
};
}
@@ -98,7 +98,7 @@ namespace armarx
{
return [func](VariantValue value)
{
- func(boost::get<Eigen::Quaternionf>(value));
+ func(std::get<Eigen::Quaternionf>(value));
};
}
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/Trajectory.h b/source/RobotAPI/libraries/SimpleTrajectory/Trajectory.h
index 5600a669f..f79148ab1 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/Trajectory.h
+++ b/source/RobotAPI/libraries/SimpleTrajectory/Trajectory.h
@@ -90,7 +90,7 @@ namespace armarx::trajectory
{
return [&v](VariantValue value)
{
- v = boost::get<ValueT>(value);
+ v = std::get<ValueT>(value);
};
}
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/VariantValue.h b/source/RobotAPI/libraries/SimpleTrajectory/VariantValue.h
index c7e6db669..ec4f5086b 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/VariantValue.h
+++ b/source/RobotAPI/libraries/SimpleTrajectory/VariantValue.h
@@ -1,15 +1,16 @@
#pragma once
-#include <boost/variant.hpp>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
-#include <Eigen/Eigen>
+#include <variant>
namespace armarx::trajectory
{
/// Variant for trajectory values.
- using VariantValue = boost::variant<float, Eigen::MatrixXf, Eigen::Quaternionf>;
+ using VariantValue = std::variant<float, Eigen::MatrixXf, Eigen::Quaternionf>;
/// ID of tracks.
using TrackID = std::string;
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/exceptions.cpp b/source/RobotAPI/libraries/SimpleTrajectory/exceptions.cpp
index 0a1bbdbc9..8af3f984e 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/exceptions.cpp
+++ b/source/RobotAPI/libraries/SimpleTrajectory/exceptions.cpp
@@ -34,18 +34,18 @@ namespace armarx::trajectory::error
return ss.str();
}
- WrongValueTypeInKeyframe::WrongValueTypeInKeyframe(
- const TrackID& trackID, const std::type_info& type, const std::type_info& expected) :
- TrajectoryException(makeMsg(trackID, type, expected))
- {}
-
- std::string WrongValueTypeInKeyframe::makeMsg(
- const TrackID& id, const std::type_info& type, const std::type_info& expected)
+ static std::string makeMsg(const TrackID& id, int typeIndex, int expectedTypeIndex)
{
std::stringstream ss;
- ss << "Tried to add keyframe with value type '" << type.name() << "' to non-empty track '"
- << id << "' containing values of type '" << expected.name() << "'. \n"
+ ss << "Tried to add keyframe with value type '" << typeIndex << "' to non-empty track '"
+ << id << "' containing values of type '" << expectedTypeIndex << "'. \n"
<< "Only one value type per track is allowed.";
return ss.str();
}
+
+ WrongValueTypeInKeyframe::WrongValueTypeInKeyframe(const TrackID& trackID, int typeIndex, int expectedTypeIndex) :
+ TrajectoryException(makeMsg(trackID, typeIndex, expectedTypeIndex))
+ {}
+
+
}
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/exceptions.h b/source/RobotAPI/libraries/SimpleTrajectory/exceptions.h
index 6235ef3f7..131c5fea4 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/exceptions.h
+++ b/source/RobotAPI/libraries/SimpleTrajectory/exceptions.h
@@ -38,10 +38,7 @@ namespace armarx::trajectory::error
struct WrongValueTypeInKeyframe : public TrajectoryException
{
- WrongValueTypeInKeyframe(const TrackID& trackID, const std::type_info& type,
- const std::type_info& expected);
- static std::string makeMsg(const TrackID& trackID, const std::type_info& type,
- const std::type_info& expected);
+ WrongValueTypeInKeyframe(const TrackID& trackID, int typeIndex, int expectedTypeIndex);
};
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/interpolate/linear.cpp b/source/RobotAPI/libraries/SimpleTrajectory/interpolate/linear.cpp
index c4b41c638..4736420d3 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/interpolate/linear.cpp
+++ b/source/RobotAPI/libraries/SimpleTrajectory/interpolate/linear.cpp
@@ -7,8 +7,8 @@ namespace armarx::trajectory
template <>
VariantValue interpolate::linear<VariantValue>(float t, const VariantValue& lhs, const VariantValue& rhs)
{
- // dont use boost::get
- return boost::apply_visitor(Linear {t}, lhs, rhs);
+ // dont use std::get
+ return std::visit(Linear {t}, lhs, rhs);
}
}
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/interpolate/linear.h b/source/RobotAPI/libraries/SimpleTrajectory/interpolate/linear.h
index 4cf381844..20fc87cc9 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/interpolate/linear.h
+++ b/source/RobotAPI/libraries/SimpleTrajectory/interpolate/linear.h
@@ -10,7 +10,7 @@ namespace armarx::trajectory::interpolate
/**
* @brief Linear interpolation visitor: Interpolates between the given values linearly.
*/
- class Linear : public boost::static_visitor<>
+ class Linear
{
public:
@@ -25,22 +25,22 @@ namespace armarx::trajectory::interpolate
Linear(float t) : t(t) {}
template <typename U, typename V>
- float operator()(const U&, const V&) const
+ VariantValue operator()(const U&, const V&) const
{
throw error::InterpolateDifferentTypesError();
}
- float operator()(const float& lhs, const float& rhs) const
+ VariantValue operator()(const float& lhs, const float& rhs) const
{
return (1 - t) * lhs + t * rhs;
}
- Eigen::MatrixXf operator()(const Eigen::MatrixXf& lhs, const Eigen::MatrixXf& rhs) const
+ VariantValue operator()(const Eigen::MatrixXf& lhs, const Eigen::MatrixXf& rhs) const
{
return (1 - t) * lhs + t * rhs;
}
- Eigen::Quaternionf operator()(const Eigen::Quaternionf& lhs, const Eigen::Quaternionf& rhs) const
+ VariantValue operator()(const Eigen::Quaternionf& lhs, const Eigen::Quaternionf& rhs) const
{
return lhs.slerp(t, rhs);
}
@@ -55,7 +55,8 @@ namespace armarx::trajectory::interpolate
template <typename ReturnT>
ReturnT linear(float t, const VariantValue& lhs, const VariantValue& rhs)
{
- return boost::get<ReturnT>(boost::apply_visitor(Linear {t}, lhs, rhs));
+ VariantValue result = std::visit(Linear {t}, lhs, rhs);
+ return std::get<ReturnT>(result);
}
template <>
diff --git a/source/RobotAPI/libraries/SimpleTrajectory/test/TrajectoryTest.cpp b/source/RobotAPI/libraries/SimpleTrajectory/test/TrajectoryTest.cpp
index 6f0553c52..73afd8c56 100644
--- a/source/RobotAPI/libraries/SimpleTrajectory/test/TrajectoryTest.cpp
+++ b/source/RobotAPI/libraries/SimpleTrajectory/test/TrajectoryTest.cpp
@@ -109,7 +109,7 @@ BOOST_AUTO_TEST_CASE(testDifferentTypes)
{
for (std::size_t j = 0; j < i; ++j)
{
- BOOST_CHECK_NE(values[i].type(), values[j].type());
+ BOOST_CHECK_NE(values[i].index(), values[j].index());
}
}
diff --git a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
index c1db4b859..f2867d76e 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
@@ -30,9 +30,6 @@
#include <ctime>
#include <numeric>
-// Boost
-#include <boost/algorithm/string.hpp>
-
// Test
#include <RobotAPI/Test.h>
diff --git a/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
index c9feaee39..4cef5c63f 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
@@ -30,9 +30,6 @@
#include <ctime>
#include <numeric>
-// Boost
-#include <boost/algorithm/string.hpp>
-
// Test
#include <RobotAPI/Test.h>
diff --git a/source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp
index 233814ffd..70adfc5e7 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp
@@ -30,9 +30,6 @@
#include <ctime>
#include <numeric>
-// Boost
-#include <boost/algorithm/string.hpp>
-
// Test
#include <RobotAPI/Test.h>
diff --git a/source/RobotAPI/libraries/aron/core/test/aronOperatorTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronOperatorTest.cpp
index 539b6fb04..6c1e44fdb 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronOperatorTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronOperatorTest.cpp
@@ -30,9 +30,6 @@
#include <ctime>
#include <numeric>
-// Boost
-#include <boost/algorithm/string.hpp>
-
// Test
#include <RobotAPI/Test.h>
diff --git a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
index d579f3a6d..395de492c 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
@@ -43,9 +43,6 @@
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
-// Boost
-#include <boost/algorithm/string.hpp>
-
// Test
#include <RobotAPI/Test.h>
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
index bef441657..0aa460711 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
@@ -28,9 +28,7 @@
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/statechart/Statechart.h>
-#include <boost/algorithm/string/split.hpp>
-#include <boost/algorithm/string/classification.hpp>
-#include <boost/algorithm/string/trim.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
namespace armarx
{
@@ -51,12 +49,11 @@ namespace armarx
if (!getProperty<std::string>("HandUnits").getValue().empty())
{
std::string handUnitsProp = getProperty<std::string>("HandUnits").getValue();
- std::vector<std::string> handUnitList;
- boost::split(handUnitList, handUnitsProp, boost::is_any_of(","));
+ std::vector<std::string> handUnitList = simox::alg::split(handUnitsProp, ",");
for (size_t i = 0; i < handUnitList.size(); i++)
{
- boost::algorithm::trim(handUnitList.at(i));
+ simox::alg::trim(handUnitList.at(i));
usingProxy(handUnitList.at(i));
}
}
@@ -96,12 +93,11 @@ namespace armarx
if (!getProperty<std::string>("HandUnits").getValue().empty())
{
std::string handUnitsProp = getProperty<std::string>("HandUnits").getValue();
- std::vector<std::string> handUnitList;
- boost::split(handUnitList, handUnitsProp, boost::is_any_of(","));
+ std::vector<std::string> handUnitList = simox::alg::split(handUnitsProp, ",");
for (size_t i = 0; i < handUnitList.size(); i++)
{
- boost::algorithm::trim(handUnitList.at(i));
+ simox::alg::trim(handUnitList.at(i));
HandUnitInterfacePrx handPrx = getProxy<HandUnitInterfacePrx>(handUnitList.at(i));
handUnits[handUnitList.at(i)] = handPrx;
ARMARX_INFO << "Fetched handUnit proxy " << handUnitList.at(i) << ": " << handPrx << flush;
diff --git a/source/RobotAPI/libraries/core/Trajectory.h b/source/RobotAPI/libraries/core/Trajectory.h
index 990de647c..774b324ee 100644
--- a/source/RobotAPI/libraries/core/Trajectory.h
+++ b/source/RobotAPI/libraries/core/Trajectory.h
@@ -30,15 +30,11 @@
#include <ArmarXCore/core/util/StringHelpers.h>
#include <ArmarXCore/observers/variant/Variant.h>
-#include <boost/tokenizer.hpp>
-#include <boost/unordered_map.hpp>
#include <boost/multi_index_container.hpp>
#include <boost/multi_index/hashed_index.hpp>
#include <boost/multi_index/random_access_index.hpp>
#include <boost/multi_index/ordered_index.hpp>
#include <boost/multi_index/member.hpp>
-#include <boost/typeof/typeof.hpp>
-#include <boost/type_traits/is_arithmetic.hpp>
#include <Eigen/Core>
@@ -200,7 +196,7 @@ namespace armarx
Trajectory() {}
Trajectory(const Trajectory& source);
template <typename T>
- Trajectory(const std::vector<T>& data, const Ice::DoubleSeq timestamps = Ice::DoubleSeq(), const std::string& dimensionName = "", typename boost::enable_if<boost::is_arithmetic< T > >::type* t = 0)
+ Trajectory(const std::vector<T>& data, const Ice::DoubleSeq timestamps = Ice::DoubleSeq(), const std::string& dimensionName = "", typename std::enable_if_t<std::is_arithmetic_v< T > >* t = 0)
{
if (data.size() == 0)
{
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
index 65db64e87..60577ef2d 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
@@ -23,11 +23,6 @@
*/
#include "RemoteRobot.h"
-#include <boost/foreach.hpp>
-#include <boost/format.hpp>
-#include <boost/algorithm/string/split.hpp>
-#include <boost/algorithm/string/classification.hpp>
-
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/RobotConfig.h>
@@ -43,6 +38,8 @@
#include <RobotAPI/libraries/core/FramedPose.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <SimoxUtility/algorithm/string/string_tools.h>
+
#include <Eigen/Geometry>
//#define DMES(Obj) cout << format("[%1%|%2%|%3%] %4%") % __FILE__ % __LINE__ % __func__ % Obj;
@@ -153,7 +150,7 @@ namespace armarx
}
NameList nodes = _robot->getRobotNodes();
- BOOST_FOREACH(std::string name, nodes)
+ for (std::string const& name : nodes)
{
storeNodes.push_back(this->getRobotNode(name));
}
@@ -177,7 +174,7 @@ namespace armarx
{
NameList sets = _robot->getRobotNodeSets();
- BOOST_FOREACH(std::string name, sets)
+ for (std::string const& name : sets)
{
storeNodeSet.push_back(this->getRobotNodeSet(name));
}
@@ -312,13 +309,6 @@ namespace armarx
{
SharedRobotNodeInterfacePrx rnRemote = _robot->getRobotNode(childrenBase[i]);
VirtualRobot::RobotNodePtr localNode = createLocalNode(rnRemote, allNodes, childrenMap, robo);
- /* boost::shared_ptr< RemoteRobotNode<VirtualRobotNodeType> > rnRemote = boost::dynamic_pointer_cast<RemoteRobotNode>(rnRemoteBase);
- if (!rnRemote)
- {
- ARMARX_ERROR_S << "RemoteRobot does not know robot node with name " << children[i];
- continue;
- }*/
-
if (!localNode)
{
@@ -413,13 +403,10 @@ namespace armarx
}
CMakePackageFinder project(projectName);
- Ice::StringSeq projectIncludePaths;
+
auto pathsString = project.getDataDir();
ARMARX_DEBUG_S << "Data paths of ArmarX package " << projectName << ": " << pathsString;
- boost::split(projectIncludePaths,
- pathsString,
- boost::is_any_of(";,"),
- boost::token_compress_on);
+ Ice::StringSeq projectIncludePaths = simox::alg::split(pathsString, ";,");
ARMARX_DEBUG_S << "Result: Data paths of ArmarX package " << projectName << ": " << projectIncludePaths;
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
index 2c259eafc..3452cb938 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
@@ -22,7 +22,6 @@
* GNU General Public License
*/
#include "RemoteRobot.h"
-#include <boost/foreach.hpp>
#include <VirtualRobot/VirtualRobot.h>
@@ -166,7 +165,7 @@ namespace armarx
vector<RobotNodePtr> result;
RobotPtr robot = this->robot.lock();
- BOOST_FOREACH(string name, nodes)
+ for (std::string const& name : nodes)
{
result.push_back(robot->getRobotNode(name));
}
@@ -201,7 +200,7 @@ namespace armarx
{
NameList nodes = _node->getChildren();
vector<SceneObjectPtr> result;
- BOOST_FOREACH(string name, nodes)
+ for (string const& name : nodes)
{
result.push_back(this->robot.lock()->getRobotNode(name));
}
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
index 9f2dc660d..a140749a9 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
@@ -39,9 +39,7 @@
#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <VirtualRobot/IK/DifferentialIK.h>
-#include <boost/algorithm/string/trim.hpp>
-#include <boost/algorithm/string/split.hpp>
-#include <boost/algorithm/string/classification.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#define TCP_POSE_CHANNEL "TCPPose"
#define TCP_TRANS_VELOCITIES_CHANNEL "TCPVelocities"
@@ -350,15 +348,11 @@ void RobotStateObserver::setRobot(RobotPtr robot)
}
else
{
- std::vector<std::string> nodesetNames;
- boost::split(nodesetNames,
- nodesetsString,
- boost::is_any_of(","),
- boost::token_compress_on);
+ std::vector<std::string> nodesetNames = simox::alg::split(nodesetsString, ",");
for (auto name : nodesetNames)
{
- boost::trim(name);
+ simox::alg::trim(name);
auto node = robot->getRobotNode(name);
if (node)
diff --git a/source/RobotAPI/libraries/diffik/DiffIKProvider.h b/source/RobotAPI/libraries/diffik/DiffIKProvider.h
index a75434af4..afa25c9cc 100644
--- a/source/RobotAPI/libraries/diffik/DiffIKProvider.h
+++ b/source/RobotAPI/libraries/diffik/DiffIKProvider.h
@@ -23,12 +23,13 @@
#pragma once
-#include <boost/shared_ptr.hpp>
-#include <Eigen/Dense>
+#include <Eigen/Core>
+
+#include <memory>
namespace armarx
{
- typedef boost::shared_ptr<class DiffIKProvider> DiffIKProviderPtr;
+ typedef std::shared_ptr<class DiffIKProvider> DiffIKProviderPtr;
struct DiffIKResult
{
diff --git a/source/RobotAPI/libraries/diffik/GraspTrajectory.h b/source/RobotAPI/libraries/diffik/GraspTrajectory.h
index 3e5633d59..8cc0a7cad 100644
--- a/source/RobotAPI/libraries/diffik/GraspTrajectory.h
+++ b/source/RobotAPI/libraries/diffik/GraspTrajectory.h
@@ -23,31 +23,38 @@
#pragma once
-#include <boost/shared_ptr.hpp>
-#include <Eigen/Dense>
-#include <VirtualRobot/math/AbstractFunctionR1R6.h>
-#include <VirtualRobot/math/Helpers.h>
-#include <map>
-#include <ArmarXCore/core/exceptions/Exception.h>
-#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
-#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlWriter.h>
+
+
#include <RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h>
-#include <ArmarXGui/libraries/StructuralJson/JPathNavigator.h>
-#include <ArmarXGui/libraries/StructuralJson/StructuralJsonParser.h>
#include <RobotAPI/libraries/diffik/SimpleDiffIK.h>
#include <RobotAPI/interface/units/GraspCandidateProviderInterface.h>
+
+#include <ArmarXGui/libraries/StructuralJson/JPathNavigator.h>
+#include <ArmarXGui/libraries/StructuralJson/StructuralJsonParser.h>
+
+#include <ArmarXCore/core/exceptions/Exception.h>
+#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
+#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlWriter.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/interface/serialization/Eigen.h>
+#include <VirtualRobot/math/AbstractFunctionR1R6.h>
+#include <VirtualRobot/math/Helpers.h>
+
+#include <Eigen/Core>
+
+#include <vector>
+#include <map>
+
namespace armarx
{
- typedef boost::shared_ptr<class GraspTrajectory> GraspTrajectoryPtr;
+ typedef std::shared_ptr<class GraspTrajectory> GraspTrajectoryPtr;
class GraspTrajectory
{
public:
class Keypoint;
- typedef boost::shared_ptr<Keypoint> KeypointPtr;
+ typedef std::shared_ptr<Keypoint> KeypointPtr;
class Keypoint
{
diff --git a/source/RobotAPI/libraries/diffik/RobotPlacement.h b/source/RobotAPI/libraries/diffik/RobotPlacement.h
index a677a7a11..0eb34d3f3 100644
--- a/source/RobotAPI/libraries/diffik/RobotPlacement.h
+++ b/source/RobotAPI/libraries/diffik/RobotPlacement.h
@@ -26,11 +26,11 @@
#include "DiffIKProvider.h"
#include "GraspTrajectory.h"
-#include <boost/shared_ptr.hpp>
+#include <memory>
namespace armarx
{
- typedef boost::shared_ptr<class RobotPlacement> RobotPlacementPtr;
+ typedef std::shared_ptr<class RobotPlacement> RobotPlacementPtr;
class RobotPlacement
{
--
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