// 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();