Merge pull request #23 from scpeters/unboost

Use c++11 instead of boost, bump version to 1.0.0

CMakeLists.txt

@@ -3,9 +3,9 @@ project (urdfdom_headers)
 
 include(GNUInstallDirs)
 
-set (URDF_MAJOR_VERSION 0)
-set (URDF_MINOR_VERSION 4)
-set (URDF_PATCH_VERSION 2)
+set (URDF_MAJOR_VERSION 1)
+set (URDF_MINOR_VERSION 0)
+set (URDF_PATCH_VERSION 0)
 
 set (URDF_VERSION ${URDF_MAJOR_VERSION}.${URDF_MINOR_VERSION}.${URDF_PATCH_VERSION})
 

urdf_model/include/urdf_model/color.h

@@ -37,11 +37,12 @@
 #ifndef URDF_INTERFACE_COLOR_H
 #define URDF_INTERFACE_COLOR_H
 
+#include <stdexcept>
 #include <string>
 #include <vector>
 #include <math.h>
-#include <boost/algorithm/string.hpp>
-#include <boost/lexical_cast.hpp>
+
+#include <urdf_model/utils.h>
 
 namespace urdf
 {
@@ -65,17 +66,19 @@ class Color
     this->clear();
     std::vector<std::string> pieces;
     std::vector<float> rgba;
-    boost::split( pieces, vector_str, boost::is_any_of(" "));
+    urdf::split_string( pieces, vector_str, " ");
     for (unsigned int i = 0; i < pieces.size(); ++i)
     {
       if (!pieces[i].empty())
       {
         try
         {
-          rgba.push_back(boost::lexical_cast<float>(pieces[i].c_str()));
+          rgba.push_back(std::stof(pieces[i]));
         }
-        catch (boost::bad_lexical_cast &/*e*/)
-        {
+        catch (std::invalid_argument &/*e*/) {
+          return false;
+        }
+        catch (std::out_of_range &/*e*/) {
           return false;
         }
       }

urdf_model/include/urdf_model/pose.h

@@ -46,13 +46,13 @@
 #endif
 
 #include <cmath>
-#include <string>
 #include <sstream>
+#include <stdexcept>
+#include <string>
 #include <vector>
 
-#include <boost/algorithm/string.hpp>
-#include <boost/lexical_cast.hpp>
 #include <urdf_exception/exception.h>
+#include <urdf_model/utils.h>
 
 namespace urdf{
 
@@ -71,20 +71,23 @@ class Vector3
     this->clear();
     std::vector<std::string> pieces;
     std::vector<double> xyz;
-    boost::split( pieces, vector_str, boost::is_any_of(" "));
+    urdf::split_string( pieces, vector_str, " ");
     for (unsigned int i = 0; i < pieces.size(); ++i){
       if (pieces[i] != ""){
         try {
-          xyz.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
+          xyz.push_back(std::stod(pieces[i]));
         }
-        catch (boost::bad_lexical_cast &/*e*/) {
+        catch (std::invalid_argument &/*e*/) {
           throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a vector value)");
         }
+        catch (std::out_of_range &/*e*/) {
+          throw ParseError("Unable to parse component [" + pieces[i] + "] to a double, out of range (while parsing a vector value)");
+        }
       }
     }
 
     if (xyz.size() != 3)
-      throw ParseError("Parser found " + boost::lexical_cast<std::string>(xyz.size())  + " elements but 3 expected while parsing vector [" + vector_str + "]");
+      throw ParseError("Parser found " + std::to_string(xyz.size())  + " elements but 3 expected while parsing vector [" + vector_str + "]");
 
     this->x = xyz[0];
     this->y = xyz[1];

urdf_model/include/urdf_model/types.h

@@ -37,20 +37,18 @@
 #ifndef URDF_MODEL_TYPES_H
 #define URDF_MODEL_TYPES_H
 
-#include <boost/pointer_cast.hpp>
-#include <boost/shared_ptr.hpp>
-#include <boost/weak_ptr.hpp>
+#include <memory>
 
 #define URDF_TYPEDEF_CLASS_POINTER(Class) \
 class Class; \
-typedef boost::shared_ptr<Class> Class##SharedPtr; \
-typedef boost::shared_ptr<const Class> Class##ConstSharedPtr; \
-typedef boost::weak_ptr<Class> Class##WeakPtr
+typedef std::shared_ptr<Class> Class##SharedPtr; \
+typedef std::shared_ptr<const Class> Class##ConstSharedPtr; \
+typedef std::weak_ptr<Class> Class##WeakPtr
 
 namespace urdf{
 
 // shared pointer used in joint.h
-typedef boost::shared_ptr<double> DoubleSharedPtr;
+typedef std::shared_ptr<double> DoubleSharedPtr;
 
 URDF_TYPEDEF_CLASS_POINTER(Box);
 URDF_TYPEDEF_CLASS_POINTER(Collision);
@@ -71,21 +69,21 @@ URDF_TYPEDEF_CLASS_POINTER(Visual);
 
 // create *_pointer_cast functions in urdf namespace
 template<class T, class U>
-boost::shared_ptr<T> const_pointer_cast(boost::shared_ptr<U> const & r)
+std::shared_ptr<T> const_pointer_cast(std::shared_ptr<U> const & r)
 {
-  return boost::const_pointer_cast<T>(r);
+  return std::const_pointer_cast<T>(r);
 }
 
 template<class T, class U>
-boost::shared_ptr<T> dynamic_pointer_cast(boost::shared_ptr<U> const & r)
+std::shared_ptr<T> dynamic_pointer_cast(std::shared_ptr<U> const & r)
 {
-  return boost::dynamic_pointer_cast<T>(r);
+  return std::dynamic_pointer_cast<T>(r);
 }
 
 template<class T, class U>
-boost::shared_ptr<T> static_pointer_cast(boost::shared_ptr<U> const & r)
+std::shared_ptr<T> static_pointer_cast(std::shared_ptr<U> const & r)
 {
-  return boost::static_pointer_cast<T>(r);
+  return std::static_pointer_cast<T>(r);
 }
 
 }

urdf_model/include/urdf_model/utils.h

@@ -0,0 +1,67 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2016, Open Source Robotics Foundation (OSRF)
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the OSRF nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Steve Peters */
+
+#ifndef URDF_INTERFACE_UTILS_H
+#define URDF_INTERFACE_UTILS_H
+
+#include <string>
+#include <vector>
+
+namespace urdf {
+
+// Replacement for boost::split( ... , ... , boost::is_any_of(" "))
+inline
+void split_string(std::vector<std::string> &result,
+                  const std::string &input,
+                  const std::string &isAnyOf)
+{
+  std::string::size_type start = 0;
+  std::string::size_type end = input.find_first_of(isAnyOf, start);
+  while (end != std::string::npos)
+  {
+    result.push_back(input.substr(start, end-start));
+    start = end + 1;
+    end = input.find_first_of(isAnyOf, start);
+  }
+  if (start < input.length())
+  {
+    result.push_back(input.substr(start));
+  }
+}
+
+}
+
+#endif

urdf_model_state/include/urdf_model_state/types.h

@@ -37,15 +37,15 @@
 #ifndef URDF_MODEL_STATE_TYPES_H
 #define URDF_MODEL_STATE_TYPES_H
 
-#include <boost/shared_ptr.hpp>
+#include <memory>
 
 
 namespace urdf{
 
 class JointState;
 
 // typedef shared pointers
-typedef boost::shared_ptr<JointState> JointStateSharedPtr;
+typedef std::shared_ptr<JointState> JointStateSharedPtr;
 
 }
 

urdf_sensor/include/urdf_sensor/types.h

@@ -37,15 +37,15 @@
 #ifndef URDF_SENSOR_TYPES_H
 #define URDF_SENSOR_TYPES_H
 
-#include <boost/shared_ptr.hpp>
+#include <memory>
 
 
 namespace urdf{
 
 class VisualSensor;
 
 // typedef shared pointers
-typedef boost::shared_ptr<VisualSensor> VisualSensorSharedPtr;
+typedef std::shared_ptr<VisualSensor> VisualSensorSharedPtr;
 
 }
 

urdf_world/include/urdf_world/types.h

@@ -37,15 +37,15 @@
 #ifndef URDF_WORLD_TYPES_H
 #define URDF_WORLD_TYPES_H
 
-#include <boost/shared_ptr.hpp>
+#include <memory>
 
 
 namespace urdf{
 
 class ModelInterface;
 
 // typedef shared pointers
-typedef boost::shared_ptr<ModelInterface> ModelInterfaceSharedPtr;
+typedef std::shared_ptr<ModelInterface> ModelInterfaceSharedPtr;
 
 }