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Use GTSAM_CONCEPT_USAGE in lieu of BOOST_CONCEPT_USAGE #2047

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Merged
varunagrawal merged 2 commits into from
Mar 14, 2025
Merged

Use GTSAM_CONCEPT_USAGE in lieu of BOOST_CONCEPT_USAGE #2047

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d5aa068
use GTSAM_CONCEPT_USAGE in lieu of BOOST_CONCEPT_USAGE
varunagrawal Mar 9, 2025
92b4d7b
replace BOOST_CONCEPT_USAGE with GTSAM_CONCEPT_USAGE
varunagrawal Mar 9, 2025
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2 changes: 1 addition & 1 deletion gtsam/base/Group.h
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Expand Up @@ -45,7 +45,7 @@ class IsGroup {
typedef typename traits<G>::group_flavor flavor_tag;
//typedef typename traits<G>::identity::value_type identity_value_type;

BOOST_CONCEPT_USAGE(IsGroup) {
GTSAM_CONCEPT_USAGE(IsGroup) {
static_assert(
(std::is_base_of<group_tag, structure_category_tag>::value),
"This type's structure_category trait does not assert it as a group (or derived)");
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2 changes: 1 addition & 1 deletion gtsam/base/Lie.h
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Expand Up @@ -264,7 +264,7 @@ class IsLieGroup: public IsGroup<T>, public IsManifold<T> {
typedef typename traits<T>::TangentVector TangentVector;
typedef typename traits<T>::ChartJacobian ChartJacobian;

BOOST_CONCEPT_USAGE(IsLieGroup) {
GTSAM_CONCEPT_USAGE(IsLieGroup) {
static_assert(
(std::is_base_of<lie_group_tag, structure_category_tag>::value),
"This type's trait does not assert it is a Lie group (or derived)");
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4 changes: 2 additions & 2 deletions gtsam/base/Manifold.h
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Expand Up @@ -61,7 +61,7 @@ struct HasManifoldPrereqs {
Eigen::Matrix<double, dim, 1> v;
OptionalJacobian<dim, dim> Hp, Hq, Hv;

BOOST_CONCEPT_USAGE(HasManifoldPrereqs) {
GTSAM_CONCEPT_USAGE(HasManifoldPrereqs) {
v = p.localCoordinates(q);
q = p.retract(v);
}
Expand Down Expand Up @@ -139,7 +139,7 @@ class IsManifold {
typedef typename traits<T>::ManifoldType ManifoldType;
typedef typename traits<T>::TangentVector TangentVector;

BOOST_CONCEPT_USAGE(IsManifold) {
GTSAM_CONCEPT_USAGE(IsManifold) {
static_assert(
(std::is_base_of<manifold_tag, structure_category_tag>::value),
"This type's structure_category trait does not assert it as a manifold (or derived)");
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4 changes: 2 additions & 2 deletions gtsam/base/Testable.h
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Expand Up @@ -61,7 +61,7 @@ namespace gtsam {
bool r1,r2;
public:

BOOST_CONCEPT_USAGE(IsTestable) {
GTSAM_CONCEPT_USAGE(IsTestable) {
// check print function, with optional string
traits<T>::Print(t, std::string());
traits<T>::Print(t);
Expand Down Expand Up @@ -134,7 +134,7 @@ namespace gtsam {
template<typename T>
struct HasTestablePrereqs {

BOOST_CONCEPT_USAGE(HasTestablePrereqs) {
GTSAM_CONCEPT_USAGE(HasTestablePrereqs) {
t->print(str);
b = t->equals(*s,tol);
}
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4 changes: 2 additions & 2 deletions gtsam/base/VectorSpace.h
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Expand Up @@ -168,7 +168,7 @@ struct HasVectorSpacePrereqs {
Class p, q;
Vector v;

BOOST_CONCEPT_USAGE(HasVectorSpacePrereqs) {
GTSAM_CONCEPT_USAGE(HasVectorSpacePrereqs) {
p = Class::Identity(); // identity
q = p + p; // addition
q = p - p; // subtraction
Expand Down Expand Up @@ -472,7 +472,7 @@ class IsVectorSpace: public IsLieGroup<T> {

typedef typename traits<T>::structure_category structure_category_tag;

BOOST_CONCEPT_USAGE(IsVectorSpace) {
GTSAM_CONCEPT_USAGE(IsVectorSpace) {
static_assert(
(std::is_base_of<vector_space_tag, structure_category_tag>::value),
"This type's trait does not assert it as a vector space (or derived)");
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3 changes: 2 additions & 1 deletion gtsam/base/concepts.h
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Expand Up @@ -17,9 +17,10 @@
#include <boost/concept_check.hpp>
#define GTSAM_CONCEPT_ASSERT(concept) BOOST_CONCEPT_ASSERT((concept))
#define GTSAM_CONCEPT_REQUIRES(concept, return_type) BOOST_CONCEPT_REQUIRES(((concept)), (return_type))
#define GTSAM_CONCEPT_USAGE BOOST_CONCEPT_USAGE
#else
// This does something sensible:
#define BOOST_CONCEPT_USAGE(concept) void check##concept()
#define GTSAM_CONCEPT_USAGE(concept) void check##concept()
// These just ignore the concept checking for now:
#define GTSAM_CONCEPT_ASSERT(concept) static_assert(true, "")
#define GTSAM_CONCEPT_REQUIRES(concept, return_type) return_type
Expand Down
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