From 58cb81452a123a4dd974328f59fadba02a5ac425 Mon Sep 17 00:00:00 2001
From: Heiko Thiel <heiko.thiel@hpi.de>
Date: Wed, 27 Mar 2019 16:59:49 +0100
Subject: [PATCH] Use C++11 static_assert instead of BOOST_STATIC_ASSERT and
 EIGEN_ASSERT

---
 .../include/pcl/apps/in_hand_scanner/boost.h                | 1 -
 .../include/pcl/apps/in_hand_scanner/mesh_processing.h      | 3 +--
 common/include/pcl/common/impl/eigen.hpp                    | 6 +++---
 geometry/include/pcl/geometry/mesh_conversion.h             | 2 +-
 4 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h
index 1480e5ae014..a0e4a2d065f 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h
@@ -44,7 +44,6 @@
 #  pragma GCC system_header
 #endif
 
-#include <boost/static_assert.hpp>
 #include <boost/unordered_map.hpp>
 #include <boost/bind/bind.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h
index 546da7523b0..2609388cec3 100644
--- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h
+++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h
@@ -57,8 +57,7 @@ namespace pcl
         typedef pcl::ihs::Mesh        Mesh;
         typedef Mesh::HalfEdgeIndices HalfEdgeIndices;
 
-        // Currently works only on the manifold mesh.
-        BOOST_STATIC_ASSERT (Mesh::IsManifold::value);
+        static_assert (Mesh::IsManifold::value, "MeshProcessing currently works only on the manifold mesh.");
 
         /** \brief Constructor. */
         MeshProcessing ();
diff --git a/common/include/pcl/common/impl/eigen.hpp b/common/include/pcl/common/impl/eigen.hpp
index d9005cb7f60..76386547efd 100644
--- a/common/include/pcl/common/impl/eigen.hpp
+++ b/common/include/pcl/common/impl/eigen.hpp
@@ -746,9 +746,9 @@ pcl::umeyama (const Eigen::MatrixBase<Derived>& src, const Eigen::MatrixBase<Oth
   typedef typename Eigen::NumTraits<Scalar>::Real RealScalar;
   typedef typename Derived::Index Index;
 
-  EIGEN_STATIC_ASSERT (!Eigen::NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
-  EIGEN_STATIC_ASSERT ((Eigen::internal::is_same<Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::value),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+  static_assert (!Eigen::NumTraits<Scalar>::IsComplex, "Numeric type must be real.");
+  static_assert ((Eigen::internal::is_same<Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::value),
+    "You mixed different numeric types. You need to use the cast method of matrixbase to cast numeric types explicitly.");
 
   enum { Dimension = PCL_EIGEN_SIZE_MIN_PREFER_DYNAMIC (Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) };
 
diff --git a/geometry/include/pcl/geometry/mesh_conversion.h b/geometry/include/pcl/geometry/mesh_conversion.h
index e28e79eb985..81c29c067c4 100644
--- a/geometry/include/pcl/geometry/mesh_conversion.h
+++ b/geometry/include/pcl/geometry/mesh_conversion.h
@@ -91,7 +91,7 @@ namespace pcl
       typedef typename HalfEdgeMesh::VertexDataCloud VertexDataCloud;
       typedef typename HalfEdgeMesh::VertexIndices   VertexIndices;
 
-      BOOST_STATIC_ASSERT (HalfEdgeMesh::HasVertexData::value); // Output mesh must have data associated with the vertices!
+      static_assert (HalfEdgeMesh::HasVertexData::value, "Output mesh must have data associated with the vertices!");
 
       VertexDataCloud vertices;
       pcl::fromPCLPointCloud2 (face_vertex_mesh.cloud, vertices);