dev-libs/sdformat: Drop old

Package-Manager: Portage-2.3.49, Repoman-2.3.10
Signed-off-by: Andreas Sturmlechner <asturm@gentoo.org>

1 files changed, 0 insertions, 392 deletions

diff --git a/dev-libs/sdformat/files/urdfdom1.patch b/dev-libs/sdformat/files/urdfdom1.patch
deleted file mode 100644
index d76376aec016..000000000000
--- a/dev-libs/sdformat/files/urdfdom1.patch
+++ /dev/null
@@ -1,392 +0,0 @@
-Index: sdformat-4.1.1/src/parser_urdf.cc
-===================================================================
---- sdformat-4.1.1.orig/src/parser_urdf.cc
-+++ sdformat-4.1.1/src/parser_urdf.cc
-@@ -25,6 +25,7 @@
- #include "urdf_model/model.h"
- #include "urdf_model/link.h"
- #include "urdf_parser/urdf_parser.h"
-+#include <urdf_model/utils.h>
- 
- #include "sdf/SDFExtension.hh"
- #include "sdf/parser_urdf.hh"
-@@ -32,10 +33,10 @@
- 
- using namespace sdf;
- 
--typedef boost::shared_ptr<urdf::Collision> UrdfCollisionPtr;
--typedef boost::shared_ptr<urdf::Visual> UrdfVisualPtr;
--typedef boost::shared_ptr<urdf::Link> UrdfLinkPtr;
--typedef boost::shared_ptr<const urdf::Link> ConstUrdfLinkPtr;
-+typedef std::shared_ptr<urdf::Collision> UrdfCollisionPtr;
-+typedef std::shared_ptr<urdf::Visual> UrdfVisualPtr;
-+typedef std::shared_ptr<urdf::Link> UrdfLinkPtr;
-+typedef std::shared_ptr<const urdf::Link> ConstUrdfLinkPtr;
- typedef std::shared_ptr<TiXmlElement> TiXmlElementPtr;
- typedef std::shared_ptr<SDFExtension> SDFExtensionPtr;
- typedef std::map<std::string, std::vector<SDFExtensionPtr> >
-@@ -78,7 +79,7 @@ void InsertSDFExtensionJoint(TiXmlElemen
- /// reduced fixed joints:  check if a fixed joint should be lumped
- ///   checking both the joint type and if disabledFixedJointLumping
- ///   option is set
--bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt);
-+bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt);
- 
- /// reduced fixed joints:  apply transform reduction for ray sensors
- ///   in extensions when doing fixed joint reduction
-@@ -217,9 +218,9 @@ std::string Values2str(unsigned int _cou
- 
- 
- void CreateGeometry(TiXmlElement* _elem,
--    boost::shared_ptr<urdf::Geometry> _geometry);
-+    std::shared_ptr<urdf::Geometry> _geometry);
- 
--std::string GetGeometryBoundingBox(boost::shared_ptr<urdf::Geometry> _geometry,
-+std::string GetGeometryBoundingBox(std::shared_ptr<urdf::Geometry> _geometry,
-     double *_sizeVals);
- 
- ignition::math::Pose3d inverseTransformToParentFrame(
-@@ -254,7 +255,7 @@ urdf::Vector3 ParseVector3(const std::st
-   std::vector<std::string> pieces;
-   std::vector<double> vals;
- 
--  boost::split(pieces, _str, boost::is_any_of(" "));
-+  urdf::split_string(pieces, _str, " ");
-   for (unsigned int i = 0; i < pieces.size(); ++i)
-   {
-     if (pieces[i] != "")
-@@ -262,7 +263,7 @@ urdf::Vector3 ParseVector3(const std::st
-       try
-       {
-         vals.push_back(_scale
--            * boost::lexical_cast<double>(pieces[i].c_str()));
-+            * std::stod(pieces[i].c_str()));
-       }
-       catch(boost::bad_lexical_cast &)
-       {
-@@ -349,7 +350,7 @@ void ReduceCollisionToParent(UrdfLinkPtr
-     UrdfCollisionPtr _collision)
- {
- #ifndef URDF_GE_0P3
--  boost::shared_ptr<std::vector<UrdfCollisionPtr> > cols;
-+  std::shared_ptr<std::vector<UrdfCollisionPtr> > cols;
-   cols = _parentLink->getCollisions(_name);
- 
-   if (!cols)
-@@ -427,7 +428,7 @@ void ReduceVisualToParent(UrdfLinkPtr _p
-     UrdfVisualPtr _visual)
- {
- #ifndef URDF_GE_0P3
--  boost::shared_ptr<std::vector<UrdfVisualPtr> > viss;
-+  std::shared_ptr<std::vector<UrdfVisualPtr> > viss;
-   viss = _parentLink->getVisuals(_name);
- 
-   if (!viss)
-@@ -950,7 +951,7 @@ void ReduceVisualsToParent(UrdfLinkPtr _
-   // (original parent link name before lumping/reducing).
- #ifndef URDF_GE_0P3
-   for (std::map<std::string,
--      boost::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator
-+      std::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator
-       visualsIt = _link->visual_groups.begin();
-       visualsIt != _link->visual_groups.end(); ++visualsIt)
-   {
-@@ -1057,7 +1058,7 @@ void ReduceCollisionsToParent(UrdfLinkPt
-   // (original parent link name before lumping/reducing).
- #ifndef URDF_GE_0P3
-   for (std::map<std::string,
--      boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator
-+      std::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator
-       collisionsIt = _link->collision_groups.begin();
-       collisionsIt != _link->collision_groups.end(); ++collisionsIt)
-   {
-@@ -1160,7 +1161,7 @@ void ReduceJointsToParent(UrdfLinkPtr _l
-   // a parent link up stream that does not have a fixed parentJoint
-   for (unsigned int i = 0 ; i < _link->child_links.size() ; ++i)
-   {
--    boost::shared_ptr<urdf::Joint> parentJoint =
-+    std::shared_ptr<urdf::Joint> parentJoint =
-       _link->child_links[i]->parent_joint;
-     if (!FixedJointShouldBeReduced(parentJoint))
-     {
-@@ -1431,31 +1432,31 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
-       else if (childElem->ValueStr() == "dampingFactor")
-       {
-         sdf->isDampingFactor = true;
--        sdf->dampingFactor = boost::lexical_cast<double>(
-+        sdf->dampingFactor = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "maxVel")
-       {
-         sdf->isMaxVel = true;
--        sdf->maxVel = boost::lexical_cast<double>(
-+        sdf->maxVel = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "minDepth")
-       {
-         sdf->isMinDepth = true;
--        sdf->minDepth = boost::lexical_cast<double>(
-+        sdf->minDepth = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "mu1")
-       {
-         sdf->isMu1 = true;
--        sdf->mu1 = boost::lexical_cast<double>(
-+        sdf->mu1 = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "mu2")
-       {
-         sdf->isMu2 = true;
--        sdf->mu2 = boost::lexical_cast<double>(
-+        sdf->mu2 = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "fdir1")
-@@ -1465,13 +1466,13 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
-       else if (childElem->ValueStr() == "kp")
-       {
-         sdf->isKp = true;
--        sdf->kp = boost::lexical_cast<double>(
-+        sdf->kp = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "kd")
-       {
-         sdf->isKd = true;
--        sdf->kd = boost::lexical_cast<double>(
-+        sdf->kd = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "selfCollide")
-@@ -1488,13 +1489,13 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
-       else if (childElem->ValueStr() == "maxContacts")
-       {
-         sdf->isMaxContacts = true;
--        sdf->maxContacts = boost::lexical_cast<int>(
-+        sdf->maxContacts = std::stoi(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "laserRetro")
-       {
-         sdf->isLaserRetro = true;
--        sdf->laserRetro = boost::lexical_cast<double>(
-+        sdf->laserRetro = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "springReference")
-@@ -1510,37 +1511,37 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
-       else if (childElem->ValueStr() == "stopCfm")
-       {
-         sdf->isStopCfm = true;
--        sdf->stopCfm = boost::lexical_cast<double>(
-+        sdf->stopCfm = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "stopErp")
-       {
-         sdf->isStopErp = true;
--        sdf->stopErp = boost::lexical_cast<double>(
-+        sdf->stopErp = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "stopKp")
-       {
-         sdf->isStopKp = true;
--        sdf->stopKp = boost::lexical_cast<double>(
-+        sdf->stopKp = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "stopKd")
-       {
-         sdf->isStopKd = true;
--        sdf->stopKd = boost::lexical_cast<double>(
-+        sdf->stopKd = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "initialJointPosition")
-       {
-         sdf->isInitialJointPosition = true;
--        sdf->initialJointPosition = boost::lexical_cast<double>(
-+        sdf->initialJointPosition = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "fudgeFactor")
-       {
-         sdf->isFudgeFactor = true;
--        sdf->fudgeFactor = boost::lexical_cast<double>(
-+        sdf->fudgeFactor = std::stod(
-             GetKeyValueAsString(childElem).c_str());
-       }
-       else if (childElem->ValueStr() == "provideFeedback")
-@@ -1917,7 +1918,7 @@ void InsertSDFExtensionCollision(TiXmlEl
-           if ((*ge)->isMaxContacts)
-           {
-             AddKeyValue(_elem, "max_contacts",
--                boost::lexical_cast<std::string>((*ge)->maxContacts));
-+                std::to_string((*ge)->maxContacts));
-           }
-         }
-       }
-@@ -2339,7 +2340,7 @@ void InsertSDFExtensionRobot(TiXmlElemen
- 
- ////////////////////////////////////////////////////////////////////////////////
- void CreateGeometry(TiXmlElement* _elem,
--    boost::shared_ptr<urdf::Geometry> _geom)
-+    std::shared_ptr<urdf::Geometry> _geom)
- {
-   TiXmlElement *sdfGeometry = new TiXmlElement("geometry");
- 
-@@ -2351,8 +2352,8 @@ void CreateGeometry(TiXmlElement* _elem,
-     case urdf::Geometry::BOX:
-       type = "box";
-       {
--        boost::shared_ptr<const urdf::Box> box;
--        box = boost::dynamic_pointer_cast< const urdf::Box >(_geom);
-+        std::shared_ptr<const urdf::Box> box;
-+        box = std::dynamic_pointer_cast< const urdf::Box >(_geom);
-         int sizeCount = 3;
-         double sizeVals[3];
-         sizeVals[0] = box->dim.x;
-@@ -2366,8 +2367,8 @@ void CreateGeometry(TiXmlElement* _elem,
-     case urdf::Geometry::CYLINDER:
-       type = "cylinder";
-       {
--        boost::shared_ptr<const urdf::Cylinder> cylinder;
--        cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
-+        std::shared_ptr<const urdf::Cylinder> cylinder;
-+        cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
-         geometryType = new TiXmlElement(type);
-         AddKeyValue(geometryType, "length",
-             Values2str(1, &cylinder->length));
-@@ -2378,8 +2379,8 @@ void CreateGeometry(TiXmlElement* _elem,
-     case urdf::Geometry::SPHERE:
-       type = "sphere";
-       {
--        boost::shared_ptr<const urdf::Sphere> sphere;
--        sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom);
-+        std::shared_ptr<const urdf::Sphere> sphere;
-+        sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom);
-         geometryType = new TiXmlElement(type);
-         AddKeyValue(geometryType, "radius",
-             Values2str(1, &sphere->radius));
-@@ -2388,8 +2389,8 @@ void CreateGeometry(TiXmlElement* _elem,
-     case urdf::Geometry::MESH:
-       type = "mesh";
-       {
--        boost::shared_ptr<const urdf::Mesh> mesh;
--        mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom);
-+        std::shared_ptr<const urdf::Mesh> mesh;
-+        mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom);
-         geometryType = new TiXmlElement(type);
-         AddKeyValue(geometryType, "scale", Vector32Str(mesh->scale));
-         // do something more to meshes
-@@ -2451,7 +2452,7 @@ void CreateGeometry(TiXmlElement* _elem,
- 
- ////////////////////////////////////////////////////////////////////////////////
- std::string GetGeometryBoundingBox(
--    boost::shared_ptr<urdf::Geometry> _geom, double *_sizeVals)
-+    std::shared_ptr<urdf::Geometry> _geom, double *_sizeVals)
- {
-   std::string type;
- 
-@@ -2460,8 +2461,8 @@ std::string GetGeometryBoundingBox(
-     case urdf::Geometry::BOX:
-       type = "box";
-       {
--        boost::shared_ptr<const urdf::Box> box;
--        box = boost::dynamic_pointer_cast<const urdf::Box >(_geom);
-+        std::shared_ptr<const urdf::Box> box;
-+        box = std::dynamic_pointer_cast<const urdf::Box >(_geom);
-         _sizeVals[0] = box->dim.x;
-         _sizeVals[1] = box->dim.y;
-         _sizeVals[2] = box->dim.z;
-@@ -2470,8 +2471,8 @@ std::string GetGeometryBoundingBox(
-     case urdf::Geometry::CYLINDER:
-       type = "cylinder";
-       {
--        boost::shared_ptr<const urdf::Cylinder> cylinder;
--        cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
-+        std::shared_ptr<const urdf::Cylinder> cylinder;
-+        cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
-         _sizeVals[0] = cylinder->radius * 2;
-         _sizeVals[1] = cylinder->radius * 2;
-         _sizeVals[2] = cylinder->length;
-@@ -2480,16 +2481,16 @@ std::string GetGeometryBoundingBox(
-     case urdf::Geometry::SPHERE:
-       type = "sphere";
-       {
--        boost::shared_ptr<const urdf::Sphere> sphere;
--        sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom);
-+        std::shared_ptr<const urdf::Sphere> sphere;
-+        sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom);
-         _sizeVals[0] = _sizeVals[1] = _sizeVals[2] = sphere->radius * 2;
-       }
-       break;
-     case urdf::Geometry::MESH:
-       type = "trimesh";
-       {
--        boost::shared_ptr<const urdf::Mesh> mesh;
--        mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom);
-+        std::shared_ptr<const urdf::Mesh> mesh;
-+        mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom);
-         _sizeVals[0] = mesh->scale.x;
-         _sizeVals[1] = mesh->scale.y;
-         _sizeVals[2] = mesh->scale.z;
-@@ -2513,7 +2514,7 @@ void PrintCollisionGroups(UrdfLinkPtr _l
-     << static_cast<int>(_link->collision_groups.size())
-     << "] collisions.\n";
-   for (std::map<std::string,
--      boost::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator
-+      std::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator
-       colsIt = _link->collision_groups.begin();
-       colsIt != _link->collision_groups.end(); ++colsIt)
-   {
-@@ -2906,7 +2907,7 @@ void CreateCollisions(TiXmlElement* _ele
-   //   lumped meshes (fixed joint reduction)
- #ifndef URDF_GE_0P3
-   for (std::map<std::string,
--      boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator
-+      std::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator
-       collisionsIt = _link->collision_groups.begin();
-       collisionsIt != _link->collision_groups.end(); ++collisionsIt)
-   {
-@@ -3028,7 +3029,7 @@ void CreateVisuals(TiXmlElement* _elem,
-   //   lumped meshes (fixed joint reduction)
- #ifndef URDF_GE_0P3
-   for (std::map<std::string,
--      boost::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator
-+      std::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator
-       visualsIt = _link->visual_groups.begin();
-       visualsIt != _link->visual_groups.end(); ++visualsIt)
-   {
-@@ -3411,7 +3412,7 @@ TiXmlDocument URDF2SDF::InitModelString(
-   g_enforceLimits = _enforceLimits;
- 
-   // Create a RobotModel from string
--  boost::shared_ptr<urdf::ModelInterface> robotModel =
-+  std::shared_ptr<urdf::ModelInterface> robotModel =
-     urdf::parseURDF(_urdfStr.c_str());
- 
-   // an xml object to hold the xml result
-@@ -3453,7 +3454,7 @@ TiXmlDocument URDF2SDF::InitModelString(
-   // fixed joint lumping only for selected joints
-   if (g_reduceFixedJoints)
-     ReduceFixedJoints(robot,
--        (boost::const_pointer_cast< urdf::Link >(rootLink)));
-+        (std::const_pointer_cast< urdf::Link >(rootLink)));
- 
-   if (rootLink->name == "world")
-   {
-@@ -3514,7 +3515,7 @@ TiXmlDocument URDF2SDF::InitModelFile(co
- }
- 
- ////////////////////////////////////////////////////////////////////////////////
--bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt)
-+bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt)
- {
-     // A joint should be lumped only if its type is fixed and
-     // the disabledFixedJointLumping joint option is not set