-/*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-* Copyright (c) 2016, Guan-Horng Liu.
-* 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 the copyright holder 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
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-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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-* Author: Guan-Horng Liu
-*********************************************************************/
-
+// Copyright (c) 2016, Guan-Horng Liu.
+// SPDX-FileCopyrightText: 2016 Guan-Horng Liu
+//
+// 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();