From aab6af3368ead2be9ef0aa885de5a4777e0c79a4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 3 Jul 2022 11:09:46 -0400
Subject: [PATCH 1/2] replace boost::function with std::function

---
 gtsam/basis/Chebyshev2.h             | 4 +---
 gtsam/basis/tests/testChebyshev2.cpp | 2 +-
 gtsam/discrete/DecisionTree.h        | 2 +-
 gtsam/geometry/tests/testPoint3.cpp  | 2 --
 4 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/gtsam/basis/Chebyshev2.h b/gtsam/basis/Chebyshev2.h
index e306c93d55..4c3542d568 100644
--- a/gtsam/basis/Chebyshev2.h
+++ b/gtsam/basis/Chebyshev2.h
@@ -36,8 +36,6 @@
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/basis/Basis.h>
 
-#include <boost/function.hpp>
-
 namespace gtsam {
 
 /**
@@ -134,7 +132,7 @@ class GTSAM_EXPORT Chebyshev2 : public Basis<Chebyshev2> {
    * Create matrix of values at Chebyshev points given vector-valued function.
    */
   template <size_t M>
-  static Matrix matrix(boost::function<Eigen::Matrix<double, M, 1>(double)> f,
+  static Matrix matrix(std::function<Eigen::Matrix<double, M, 1>(double)> f,
                        size_t N, double a = -1, double b = 1) {
     Matrix Xmat(M, N);
     for (size_t j = 0; j < N; j++) {
diff --git a/gtsam/basis/tests/testChebyshev2.cpp b/gtsam/basis/tests/testChebyshev2.cpp
index 9090757f42..73339e0f17 100644
--- a/gtsam/basis/tests/testChebyshev2.cpp
+++ b/gtsam/basis/tests/testChebyshev2.cpp
@@ -118,7 +118,7 @@ TEST(Chebyshev2, InterpolateVector) {
   EXPECT(assert_equal(expected, fx(X, actualH), 1e-9));
 
   // Check derivative
-  boost::function<Vector2(ParameterMatrix<2>)> f = boost::bind(
+  std::function<Vector2(ParameterMatrix<2>)> f = boost::bind(
       &Chebyshev2::VectorEvaluationFunctor<2>::operator(), fx, _1, boost::none);
   Matrix numericalH =
       numericalDerivative11<Vector2, ParameterMatrix<2>, 2 * N>(f, X);
diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index 7449ae995b..dede2a2f08 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -22,7 +22,7 @@
 #include <gtsam/base/types.h>
 #include <gtsam/discrete/Assignment.h>
 
-#include <boost/function.hpp>
+#include <boost/shared_ptr.hpp>
 #include <functional>
 #include <iostream>
 #include <map>
diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp
index 315391ac89..e373e1d520 100644
--- a/gtsam/geometry/tests/testPoint3.cpp
+++ b/gtsam/geometry/tests/testPoint3.cpp
@@ -19,8 +19,6 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Point3.h>
 
-#include <boost/function.hpp>
-
 using namespace std::placeholders;
 using namespace gtsam;
 

From b0369c48c8cab250589e28c12062c869699ca762 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 3 Jul 2022 11:10:27 -0400
Subject: [PATCH 2/2] import VectorSerialization to Point3 to allow
 serialization for downstream classes

---
 gtsam/geometry/Point3.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 835c53d7ce..f475319633 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -25,6 +25,7 @@
 #include <gtsam/base/VectorSpace.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/dllexport.h>
+#include <gtsam/base/VectorSerialization.h>
 #include <boost/serialization/nvp.hpp>
 #include <numeric>