Get rid of boost includes

diff --git a/incl/reeds_shepp.h b/incl/reeds_shepp.h
index ba0904e3486e939796986c5f08d244bdb7c8fdbf..3065de047281ff560e9b9a11fd0c6ef6d4361249 100644 (file)
--- a/incl/reeds_shepp.h
+++ b/incl/reeds_shepp.h
@@ -6,7 +6,7 @@
 #ifndef SPACES_REEDS_SHEPP_STATE_SPACE_
 #define SPACES_REEDS_SHEPP_STATE_SPACE_
 
-#include <boost/math/constants/constants.hpp>
+#include <limits>
 #include <cassert>
 
 typedef int (*ReedsSheppPathSamplingCallback)(double q[3], void* user_data);

diff --git a/src/reeds_shepp.cpp b/src/reeds_shepp.cpp
index 293a90c1c9a017e1d81f1d5a8a0450432ae5a582..2955312c16b8017336675cff52e89372c629ec1e 100644 (file)
--- a/src/reeds_shepp.cpp
+++ b/src/reeds_shepp.cpp
@@ -4,14 +4,13 @@
 // SPDX-License-Identifier: BSD-3-Clause
 
 #include "reeds_shepp.h"
-#include <boost/math/constants/constants.hpp>
-
+#include <cmath>
 
 namespace
 {
     // The comments, variable names, etc. use the nomenclature from the Reeds & Shepp paper.
 
-    const double pi = boost::math::constants::pi<double>();
+    const double pi = M_PI;
     const double twopi = 2. * pi;
     const double RS_EPS = 1e-6;
     const double ZERO = 10*std::numeric_limits<double>::epsilon();