Removing Boost as a dependency

[costashatz]

As of DART v6.12.2, Boost is no longer a dependency for DART. Thus, there is no reason for robot_dart to have Boost as a dependency. This PR replaces every usage of Boost with C++17 or custom made functions/libs.

[costashatz]

This solves #180

[costashatz]

@jbmouret please check this and let me know if this runs in your setup.. With DART v6.12.2 we should be completely Boost-free!

[jbmouret]

I think this does not work on our Ubuntu 18.04 (current Ubuntu on PAL robots...) because clang-10 apparently does not implement all the c++17 standard library. Maybe we could have a few #ifdef for keeping the old code (but I don't know if the compiler has a define for this).

'clang++', 'src/examples/pendulum.cpp.67.o', '-o/home/pal/robot_dart/build/pendulum', '-Wl,-Bstatic', '-L.', '-lRobotDARTMagnum', '-lRobot
DARTSimu', '-Wl,-Bdynamic', '-L/usr/lib', '-L/usr/lib', '-L/usr/lib', '-L/usr/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib', '-L/usr/lib'
, '-L/usr/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib', '-L/
usr/lib/x86_64-linux-gnu', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib', '-L/usr/lib', '-L/usr/lib', '-L/usr/li
b', '-L/usr/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib', '-
L/usr/lib/x86_64-linux-gnu', '-L/usr/lib/x86_64-linux-gnu', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-lMagnumText', '-lMagnumMeshTools', '-lMagnumPrim
itives', '-lMagnumTrade', '-lMagnumWindowlessEglApplication', '-lEGL', '-lMagnumShaders', '-lMagnumTextureTools', '-lMagnumSceneGraph', '-lMagnumGlfwApplic
ation', '-lglfw', '-ldl', '-lMagnum', '-lOpenGL', '-lMagnumGL', '-lGLX', '-lX11', '-lCorradePluginManager', '-ldl', '-lCorradeUtility', '-lMagnumDartIntegr
ation', '-lMagnumMeshTools', '-lMagnumSceneGraph', '-lMagnumTrade', '-lMagnumPrimitives', '-lMagnum', '-lOpenGL', '-lMagnumGL', '-lGLX', '-lX11', '-lCorrad
ePluginManager', '-ldl', '-lCorradeUtility', '-lboost_regex', '-lboost_system', '-lboost_filesystem', '-lboost_unit_test_framework', '-ldart', '-ldart-util
s', '-ldart-utils-urdf', '-lLinearMath', '-lBulletCollision', '-ldart-collision-bullet', '-lode', '-ldart-collision-ode', '-loctomap', '-lpthread']

[costashatz]

Interesting.. According to clang (see here), clang supports C++17 from clang5. What is the output of llvm-config --version?

[costashatz]

So it turns out that Ubuntu 18.04 come with the libstc++ version of gcc7. gcc7 is a weird compiler version for C++17. It supports all features of C++17, but the std::filesystem is at <experimental/filesystem> and we need to link to a library (stdc++fs). The last commit should handle those cases and propagate everything also to the CMake files. @jbmouret let me know if this works for you.

[costashatz]

@jbmouret any updates on this one? Thanks!