Remove use of boost::optional

dart/common/Optional.hpp

@@ -33,22 +33,17 @@
 #ifndef DART_COMMON_OPTIONAL_HPP_
 #define DART_COMMON_OPTIONAL_HPP_
 
-#if __cplusplus >= 201703L
-  #include <optional>
-#else
-  #include <boost/optional.hpp>
-#endif
+#include <optional>
+
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace common {
 
-#if __cplusplus >= 201703L
+/// \deprecated Use std::optional instead
 template <class T>
+DART_DEPRECATED(6.13)
 using optional = std::optional<T>;
-#else
-template <class T>
-using optional = boost::optional<T>;
-#endif
 
 } // namespace common
 } // namespace dart

dart/utils/mjcf/detail/Body.cpp

@@ -46,7 +46,7 @@ namespace detail {
 //==============================================================================
 Errors Body::read(
     tinyxml2::XMLElement* element,
-    const common::optional<Size>& size,
+    const std::optional<Size>& size,
     const Defaults& defaults,
     const Default* currentDefault)
 {

dart/utils/mjcf/detail/Body.hpp

@@ -118,7 +118,7 @@ class Body final
   friend class Worldbody;
   Errors read(
       tinyxml2::XMLElement* element,
-      const common::optional<Size>& size,
+      const std::optional<Size>& size,
       const Defaults& defaults,
       const Default* currentDefault);
 

dart/utils/mjcf/detail/BodyAttributes.cpp

@@ -45,7 +45,7 @@ namespace detail {
 Errors appendBodyAttributes(
     BodyAttributes& attributes,
     tinyxml2::XMLElement* element,
-    const common::optional<Size>& size)
+    const std::optional<Size>& size)
 {
   Errors errors;
 

dart/utils/mjcf/detail/BodyAttributes.hpp

@@ -55,52 +55,52 @@ class Size;
 struct BodyAttributes final
 {
   /// Name of the body.
-  common::optional<std::string> mName;
+  std::optional<std::string> mName;
 
   /// If this attribute is present, all descendant elements that admit a
   /// defaults class will use the class specified here, unless they specify
   /// their own class or another body with a childclass attribute is
   /// encountered along the chain of nested bodies.
-  common::optional<std::string> mChildClass;
+  std::optional<std::string> mChildClass;
 
   /// If this attribute is "true", the body is labeled as a mocap body.
   bool mMocap{false};
 
   /// The 3D position of the body frame, in local or global coordinates as
   /// determined by the coordinate attribute of compiler.
-  common::optional<Eigen::Vector3d> mPos;
+  std::optional<Eigen::Vector3d> mPos;
 
   /// Quaternion
   Eigen::Quaterniond mQuat{Eigen::Quaterniond::Identity()};
 
   /// These are the quantities (x, y, z, a) mentioned above. The last number
   /// is the angle of rotation, in degrees or radians as specified by the
   /// angle attribute of compiler.
-  common::optional<Eigen::Vector4d> mAxisAngle;
+  std::optional<Eigen::Vector4d> mAxisAngle;
 
   /// Rotation angles around three coordinate axes. The sequence of axes
   /// around which these rotations are applied is determined by the eulerseq
   /// attribute of compiler and is the same for the entire model.
-  common::optional<Eigen::Vector3d> mEuler;
+  std::optional<Eigen::Vector3d> mEuler;
 
   /// The first 3 numbers are the X axis of the frame. The next 3 numbers are
   /// the Y axis of the frame, which is automatically made orthogonal to the X
   /// axis. The Z axis is then defined as the cross-product of the X and Y
   /// axes.
-  common::optional<Eigen::Vector6d> mXYAxes;
+  std::optional<Eigen::Vector6d> mXYAxes;
 
   /// The Z axis of the frame
-  common::optional<Eigen::Vector3d> mZAxis;
+  std::optional<Eigen::Vector3d> mZAxis;
 
   Eigen::VectorXd mUser;
 
-  common::optional<Inertial> mInertial;
+  std::optional<Inertial> mInertial;
 };
 
 Errors appendBodyAttributes(
     BodyAttributes& attributes,
     tinyxml2::XMLElement* element,
-    const common::optional<Size>& size);
+    const std::optional<Size>& size);
 
 } // namespace detail
 } // namespace MjcfParser

dart/utils/mjcf/detail/Geom.cpp

@@ -92,7 +92,7 @@ Errors Geom::read(
 
 //==============================================================================
 static bool canUseFromTo(
-    GeomType type, const common::optional<Eigen::Vector6d>& fromto)
+    GeomType type, const std::optional<Eigen::Vector6d>& fromto)
 {
   if (!fromto)
     return false;

dart/utils/mjcf/detail/GeomAttributes.hpp

@@ -51,7 +51,7 @@ namespace detail {
 struct GeomAttributes final
 {
   /// Name of the geom
-  common::optional<std::string> mName;
+  std::optional<std::string> mName;
 
   /// Type of geometric shape
   GeomType mType{GeomType::SPHERE};
@@ -74,7 +74,7 @@ struct GeomAttributes final
   Eigen::Vector3d mFriction{Eigen::Vector3d(1, 0.005, 0.0001)};
 
   /// Mass
-  common::optional<double> mMass;
+  std::optional<double> mMass;
 
   /// Material density used to compute the geom mass and inertia.
   double mDensity{1000};
@@ -95,7 +95,7 @@ struct GeomAttributes final
   /// This attribute can only be used with capsule, cylinder, ellipsoid and
   /// box geoms. It provides an alternative specification of the geom length
   /// as well as the frame position and orientation.
-  common::optional<Eigen::Vector6d> mFromTo;
+  std::optional<Eigen::Vector6d> mFromTo;
 
   /// Position of the geom frame, in local or global coordinates as determined
   /// by the coordinate attribute of compiler.
@@ -107,23 +107,23 @@ struct GeomAttributes final
   /// These are the quantities (x, y, z, a) mentioned above. The last number
   /// is the angle of rotation, in degrees or radians as specified by the
   /// angle attribute of compiler.
-  common::optional<Eigen::Vector4d> mAxisAngle;
+  std::optional<Eigen::Vector4d> mAxisAngle;
 
   /// Rotation angles around three coordinate axes.
-  common::optional<Eigen::Vector3d> mEuler;
+  std::optional<Eigen::Vector3d> mEuler;
 
   /// The first 3 numbers are the X axis of the frame. The next 3 numbers are
   /// the Y axis of the frame, which is automatically made orthogonal to the X
   /// axis. The Z axis is then defined as the cross-product of the X and Y
   /// axes.
-  common::optional<Eigen::Vector6d> mXYAxes;
+  std::optional<Eigen::Vector6d> mXYAxes;
 
   /// The Z axis of the frame
-  common::optional<Eigen::Vector3d> mZAxis;
+  std::optional<Eigen::Vector3d> mZAxis;
 
-  common::optional<std::string> mHField;
+  std::optional<std::string> mHField;
 
-  common::optional<std::string> mMesh;
+  std::optional<std::string> mMesh;
 
   double mFitScale{1};
 };

dart/utils/mjcf/detail/Inertial.hpp

@@ -86,19 +86,19 @@ class Inertial final
     /// These are the quantities (x, y, z, a) mentioned above. The last number
     /// is the angle of rotation, in degrees or radians as specified by the
     /// angle attribute of compiler.
-    common::optional<Eigen::Vector4d> mAxisAngle;
+    std::optional<Eigen::Vector4d> mAxisAngle;
 
     /// Rotation angles around three coordinate axes.
-    common::optional<Eigen::Vector3d> mEuler;
+    std::optional<Eigen::Vector3d> mEuler;
 
     /// The first 3 numbers are the X axis of the frame. The next 3 numbers are
     /// the Y axis of the frame, which is automatically made orthogonal to the X
     /// axis. The Z axis is then defined as the cross-product of the X and Y
     /// axes.
-    common::optional<Eigen::Vector6d> mXYAxes;
+    std::optional<Eigen::Vector6d> mXYAxes;
 
     /// The Z axis of the frame
-    common::optional<Eigen::Vector3d> mZAxis;
+    std::optional<Eigen::Vector3d> mZAxis;
 
     Eigen::Isometry3d mRelativeTransform{Eigen::Isometry3d::Identity()};
     Eigen::Isometry3d mWorldTransform{Eigen::Isometry3d::Identity()};
@@ -108,10 +108,10 @@ class Inertial final
 
     /// Diagonal inertia matrix, expressing the body inertia relative to the
     /// inertial frame.
-    common::optional<Eigen::Vector3d> mDiagInertia;
+    std::optional<Eigen::Vector3d> mDiagInertia;
 
     /// Full inertia matrix M.
-    common::optional<Eigen::Vector6d> mFullInertia;
+    std::optional<Eigen::Vector6d> mFullInertia;
   };
 
   Data mData;

dart/utils/mjcf/detail/JointAttributes.hpp

@@ -47,7 +47,7 @@ namespace detail {
 
 struct JointAttributes final
 {
-  common::optional<std::string> mName;
+  std::optional<std::string> mName;
 
   JointType mType{JointType::HINGE};
 

dart/utils/mjcf/detail/MeshAttributes.hpp

@@ -49,9 +49,9 @@ namespace detail {
 struct MeshAttributes final
 {
   /// Name of the Asset
-  common::optional<std::string> mName;
+  std::optional<std::string> mName;
 
-  common::optional<std::string> mFile;
+  std::optional<std::string> mFile;
 
   Eigen::Vector3d mScale{Eigen::Vector3d::Ones()};
 };

dart/utils/mjcf/detail/Site.cpp

@@ -178,7 +178,7 @@ Errors Site::read(tinyxml2::XMLElement* element)
 
 //==============================================================================
 static bool canUseFromTo(
-    GeomType type, const common::optional<Eigen::Vector6d>& fromto)
+    GeomType type, const std::optional<Eigen::Vector6d>& fromto)
 {
   if (!fromto)
     return false;

dart/utils/mjcf/detail/Site.hpp

@@ -116,7 +116,7 @@ class Site final
   struct Data
   {
     /// Name of the Site
-    common::optional<std::string> mName;
+    std::optional<std::string> mName;
 
     /// Type of Siteetric shape
     GeomType mType{GeomType::SPHERE};
@@ -131,7 +131,7 @@ class Site final
     /// This attribute can only be used with capsule, cylinder, ellipsoid and
     /// box Sites. It provides an alternative specification of the Site length
     /// as well as the frame position and orientation.
-    common::optional<Eigen::Vector6d> mFromTo;
+    std::optional<Eigen::Vector6d> mFromTo;
 
     /// Position of the Site frame, in local or global coordinates as determined
     /// by the coordinate attribute of compiler.
@@ -143,19 +143,19 @@ class Site final
     /// These are the quantities (x, y, z, a) mentioned above. The last number
     /// is the angle of rotation, in degrees or radians as specified by the
     /// angle attribute of compiler.
-    common::optional<Eigen::Vector4d> mAxisAngle;
+    std::optional<Eigen::Vector4d> mAxisAngle;
 
     /// Rotation angles around three coordinate axes.
-    common::optional<Eigen::Vector3d> mEuler;
+    std::optional<Eigen::Vector3d> mEuler;
 
     /// The first 3 numbers are the X axis of the frame. The next 3 numbers are
     /// the Y axis of the frame, which is automatically made orthogonal to the X
     /// axis. The Z axis is then defined as the cross-product of the X and Y
     /// axes.
-    common::optional<Eigen::Vector6d> mXYAxes;
+    std::optional<Eigen::Vector6d> mXYAxes;
 
     /// The Z axis of the frame
-    common::optional<Eigen::Vector3d> mZAxis;
+    std::optional<Eigen::Vector3d> mZAxis;
   };
 
   Data mData;

dart/utils/mjcf/detail/Utils.cpp

@@ -101,10 +101,10 @@ Errors checkOrientationValidity(const tinyxml2::XMLElement* element)
 //==============================================================================
 Eigen::Matrix3d compileRotation(
     const Eigen::Quaterniond& quat,
-    const common::optional<Eigen::Vector4d>& axisAngle,
-    const common::optional<Eigen::Vector3d>& euler,
-    const common::optional<Eigen::Vector6d>& xyAxes,
-    const common::optional<Eigen::Vector3d>& zAxis,
+    const std::optional<Eigen::Vector4d>& axisAngle,
+    const std::optional<Eigen::Vector3d>& euler,
+    const std::optional<Eigen::Vector6d>& xyAxes,
+    const std::optional<Eigen::Vector3d>& zAxis,
     const Compiler& compiler)
 {
   Eigen::Matrix3d rot = Eigen::Matrix3d::Identity();

dart/utils/mjcf/detail/Utils.hpp

@@ -54,10 +54,10 @@ Errors checkOrientationValidity(const tinyxml2::XMLElement* element);
 /// compiler settings
 Eigen::Matrix3d compileRotation(
     const Eigen::Quaterniond& quat,
-    const common::optional<Eigen::Vector4d>& axisAngle,
-    const common::optional<Eigen::Vector3d>& euler,
-    const common::optional<Eigen::Vector6d>& xyAxes,
-    const common::optional<Eigen::Vector3d>& zAxis,
+    const std::optional<Eigen::Vector4d>& axisAngle,
+    const std::optional<Eigen::Vector3d>& euler,
+    const std::optional<Eigen::Vector6d>& xyAxes,
+    const std::optional<Eigen::Vector3d>& zAxis,
     const Compiler& compiler);
 
 /// Includes other MJCF model file into \c element

dart/utils/mjcf/detail/Weld.cpp

@@ -76,7 +76,7 @@ const std::string& Weld::getBody2() const
 }
 
 //==============================================================================
-const common::optional<Eigen::Isometry3d>& Weld::getRelativeTransform() const
+const std::optional<Eigen::Isometry3d>& Weld::getRelativeTransform() const
 {
   return mRelativeTransfrom;
 }

dart/utils/mjcf/detail/Weld.hpp

@@ -55,7 +55,7 @@ class Weld final
   const Eigen::Matrix<double, 5, 1>& getSolImp() const;
   const std::string& getBody1() const;
   const std::string& getBody2() const;
-  const common::optional<Eigen::Isometry3d>& getRelativeTransform() const;
+  const std::optional<Eigen::Isometry3d>& getRelativeTransform() const;
 
 private:
   // Private memebers used by MujocoModel class
@@ -73,7 +73,7 @@ class Weld final
   std::string mBody2;
   bool mUsePredefinedRelativeTransform{true};
   // Relative transform from body1 to body2
-  common::optional<Eigen::Isometry3d> mRelativeTransfrom;
+  std::optional<Eigen::Isometry3d> mRelativeTransfrom;
 };
 
 } // namespace detail

dart/utils/mjcf/detail/WeldAttributes.hpp

@@ -46,12 +46,12 @@ namespace detail {
 
 struct WeldAttributes final
 {
-  common::optional<std::string> mName;
+  std::optional<std::string> mName;
   bool mActive{true};
   Eigen::Vector2d mSolRef;
   Eigen::Matrix<double, 5, 1> mSolImp;
   std::string mBody1;
-  common::optional<std::string> mBody2;
+  std::optional<std::string> mBody2;
   Eigen::Matrix<double, 7, 1> mRelPose;
 
   WeldAttributes();

dart/utils/mjcf/detail/Worldbody.cpp

@@ -45,7 +45,7 @@ namespace detail {
 //==============================================================================
 Errors Worldbody::read(
     tinyxml2::XMLElement* element,
-    const common::optional<Size>& size,
+    const std::optional<Size>& size,
     const Defaults& defaults,
     const Default* currentDefault,
     const common::Uri& baseUri,

dart/utils/mjcf/detail/Worldbody.hpp

@@ -79,7 +79,7 @@ class Worldbody final
   friend class MujocoModel;
   Errors read(
       tinyxml2::XMLElement* element,
-      const common::optional<Size>& size,
+      const std::optional<Size>& size,
       const Defaults& defaults,
       const Default* currentDefault,
       const common::Uri& baseUri,
@@ -96,7 +96,7 @@ class Worldbody final
   Errors postprocess(const Compiler& compiler);
 
 private:
-  common::optional<std::string> mChildClass;
+  std::optional<std::string> mChildClass;
   std::vector<Geom> mGeoms;
   std::vector<Site> mSites;
   std::vector<Body> mRootBodies;