De-boost

CMakeLists.txt

@@ -29,10 +29,8 @@ endif()
 
 add_subdirectory(pybind11)
 
-find_package(Boost COMPONENTS thread atomic REQUIRED)
-
 pybind11_add_module(yag_slam_cpp src/PythonInterface.cpp src/Impls.cpp src/ScanMatcher.cpp)
-target_link_libraries(yag_slam_cpp PRIVATE Boost::thread Boost::atomic)
+target_link_libraries(yag_slam_cpp)
 
 if (catkin_FOUND)
   install(TARGETS yag_slam_cpp

include/LocalizedRangeScan.h

@@ -1,8 +1,9 @@
 #ifndef LOCALIZED_RANGE_SCAN_H
 #define LOCALIZED_RANGE_SCAN_H
 
-#include <boost/thread.hpp>
+#include <thread>
 #include <shared_mutex>
+#include <mutex>
 
 #include "Transform.h"
 #include "Vector2.h"
@@ -191,7 +192,7 @@ class LocalizedRangeScan : public LaserRangeScan {
   virtual ~LocalizedRangeScan() {}
 
 private:
-  mutable boost::shared_mutex m_Lock;
+  mutable std::shared_mutex m_Lock;
 
 public:
   /**
@@ -232,11 +233,11 @@ class LocalizedRangeScan : public LaserRangeScan {
    * Gets barycenter of point readings
    */
   inline const Pose2 &GetBarycenterPose() const {
-    boost::shared_lock<boost::shared_mutex> lock(m_Lock);
+    std::shared_lock<std::shared_mutex> lock(m_Lock);
     if (m_IsDirty) {
       // throw away constness and do an update!
       lock.unlock();
-      boost::unique_lock<boost::shared_mutex> uniqueLock(m_Lock);
+      std::unique_lock<std::shared_mutex> uniqueLock(m_Lock);
       const_cast<LocalizedRangeScan *>(this)->Update();
     }
 
@@ -248,11 +249,11 @@ class LocalizedRangeScan : public LaserRangeScan {
    * @return bounding box of this scan
    */
   inline const BoundingBox2 &GetBoundingBox() const {
-    boost::shared_lock<boost::shared_mutex> lock(m_Lock);
+    std::shared_lock<std::shared_mutex> lock(m_Lock);
     if (m_IsDirty) {
       // throw away constness and do an update!
       lock.unlock();
-      boost::unique_lock<boost::shared_mutex> uniqueLock(m_Lock);
+      std::unique_lock<std::shared_mutex> uniqueLock(m_Lock);
       const_cast<LocalizedRangeScan *>(this)->Update();
     }
 
@@ -264,11 +265,11 @@ class LocalizedRangeScan : public LaserRangeScan {
    */
   inline const PointVectorDouble &
   GetPointReadings(bool wantFiltered = false) const {
-    boost::shared_lock<boost::shared_mutex> lock(m_Lock);
+    std::shared_lock<std::shared_mutex> lock(m_Lock);
     if (m_IsDirty) {
       // throw away constness and do an update!
       lock.unlock();
-      boost::unique_lock<boost::shared_mutex> uniqueLock(m_Lock);
+      std::unique_lock<std::shared_mutex> uniqueLock(m_Lock);
       const_cast<LocalizedRangeScan *>(this)->Update();
     }