Move from boost optional, variant, shared_ptr, filesystem to STL. Update copyright notices.

CMakeLists.txt

@@ -16,7 +16,7 @@ project (
 include (CheckCCompilerFlag)
 include (CheckCXXCompilerFlag)
 
-set (CMAKE_CXX_STANDARD 17)
+set (CMAKE_CXX_STANDARD 20)
 set (CMAKE_CXX_STANDARD_REQUIRED ON)
 set (CMAKE_EXPORT_COMPILE_COMMANDS ON)
 

Configure.py

@@ -471,6 +471,12 @@ class DependencyUEPlugin(Dependency):
 		super().__init__(name, *sources)
 
 DEFAULT_DEPENDENCIES = [
+	Dependency(
+		'boost-asio',
+		GitRepository('https://github.com/boostorg/asio.git')),
+	Dependency(
+		'boost-python',
+		GitRepository('https://github.com/boostorg/python.git')),
 	Dependency(
 		'boost',
 		Download(f'https://boostorg.jfrog.io/artifactory/main/release/{BOOST_VERSION_STRING}/source/boost_{BOOST_VERSION_MAJOR}_{BOOST_VERSION_MINOR}_{BOOST_VERSION_PATCH}.zip'),

Examples/CppClient/main.cpp

@@ -99,7 +99,7 @@ int main(int argc, const char *argv[]) {
     // Spawn the vehicle.
     auto actor = world.SpawnActor(blueprint, transform);
     std::cout << "Spawned " << actor->GetDisplayId() << '\n';
-    auto vehicle = boost::static_pointer_cast<cc::Vehicle>(actor);
+    auto vehicle = std::static_pointer_cast<cc::Vehicle>(actor);
 
     // Apply control to vehicle.
     cc::Vehicle::Control control;
@@ -124,11 +124,11 @@ int main(int argc, const char *argv[]) {
         cg::Location{-5.5f, 0.0f, 2.8f},   // x, y, z.
         cg::Rotation{-15.0f, 0.0f, 0.0f}}; // pitch, yaw, roll.
     auto cam_actor = world.SpawnActor(*camera_bp, camera_transform, actor.get());
-    auto camera = boost::static_pointer_cast<cc::Sensor>(cam_actor);
+    auto camera = std::static_pointer_cast<cc::Sensor>(cam_actor);
 
     // Register a callback to save images to disk.
     camera->Listen([](auto data) {
-        auto image = boost::static_pointer_cast<csd::Image>(data);
+        auto image = std::static_pointer_cast<csd::Image>(data);
         EXPECT_TRUE(image != nullptr);
         SaveSemSegImageToDisk(*image);
     });

LibCarla/source/carla/AtomicList.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -30,14 +30,14 @@ namespace detail {
 
     template <typename ValueT>
     void Push(ValueT &&value) {
-      std::lock_guard<std::mutex> lock(_mutex);
+      std::scoped_lock<std::mutex> lock(_mutex);
       auto new_list = std::make_shared<ListT>(*Load());
       new_list->emplace_back(std::forward<ValueT>(value));
       _list = new_list;
     }
 
     void DeleteByIndex(size_t index) {
-      std::lock_guard<std::mutex> lock(_mutex);
+      std::scoped_lock<std::mutex> lock(_mutex);
       auto new_list = std::make_shared<ListT>(*Load());
       auto begin = new_list->begin();
       std::advance(begin, index);
@@ -47,14 +47,14 @@ namespace detail {
 
     template <typename ValueT>
     void DeleteByValue(const ValueT &value) {
-      std::lock_guard<std::mutex> lock(_mutex);
+      std::scoped_lock<std::mutex> lock(_mutex);
       auto new_list = std::make_shared<ListT>(*Load());
       new_list->erase(std::remove(new_list->begin(), new_list->end(), value), new_list->end());
       _list = new_list;
     }
 
     void Clear() {
-      std::lock_guard<std::mutex> lock(_mutex);
+      std::scoped_lock<std::mutex> lock(_mutex);
       _list = std::make_shared<ListT>();
     }
 

LibCarla/source/carla/AtomicSharedPtr.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/Buffer.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/BufferPool.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/Debug.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/Exception.cpp

@@ -1,11 +1,11 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "carla/Exception.h"
-#include <boost/assert/source_location.hpp>
+#include <source_location>
 
 // =============================================================================
 // -- Define boost::throw_exception --------------------------------------------
@@ -15,13 +15,15 @@
 
 namespace boost {
 
-  void throw_exception(const std::exception &e) {
+  void throw_exception(const std::exception &e)
+  {
     carla::throw_exception(e);
   }
 
   void throw_exception(
       const std::exception &e,
-      boost::source_location const & loc) {
+      std::source_location const& loc)
+  {
     throw_exception(e);
   }
 

LibCarla/source/carla/Exception.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/FileSystem.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -9,11 +9,11 @@
 #include "carla/Exception.h"
 #include "carla/StringUtil.h"
 
-#include <boost/filesystem/operations.hpp>
+#include <filesystem>
 
 namespace carla {
 
-  namespace fs = boost::filesystem;
+  namespace fs = std::filesystem;
 
   void FileSystem::ValidateFilePath(std::string &filepath, const std::string &ext) {
     fs::path path(filepath);

LibCarla/source/carla/FileSystem.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/Functional.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/Iterator.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/ListView.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/Logging.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/Memory.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -6,28 +6,26 @@
 
 #pragma once
 
-#include <boost/enable_shared_from_this.hpp>
-#include <boost/make_shared.hpp>
-#include <boost/shared_ptr.hpp>
-#include <boost/weak_ptr.hpp>
+#include <memory>
+#include <utility>
 
 namespace carla {
 
-  /// Use this SharedPtr (boost::shared_ptr) to keep compatibility with
+  /// Use this SharedPtr (std::shared_ptr) to keep compatibility with
   /// boost::python, but it would be nice if in the future we can make a Python
   /// adaptor for std::shared_ptr.
   template <typename T>
-  using SharedPtr = boost::shared_ptr<T>;
+  using SharedPtr = std::shared_ptr<T>;
 
   template <typename T>
-  using WeakPtr = boost::weak_ptr<T>;
+  using WeakPtr = std::weak_ptr<T>;
 
   template <typename T>
-  using EnableSharedFromThis = boost::enable_shared_from_this<T>;
+  using EnableSharedFromThis = std::enable_shared_from_this<T>;
 
   template <typename T, typename... Args>
   static inline auto MakeShared(Args &&... args) {
-    return boost::make_shared<T>(std::forward<Args>(args)...);
+    return std::make_shared<T>(std::forward<Args>(args)...);
   }
 
 } // namespace carla

LibCarla/source/carla/MoveHandler.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/MsgPack.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/MsgPackAdaptors.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -9,16 +9,16 @@
 #include "carla/Exception.h"
 #include "carla/MsgPack.h"
 
-#include <boost/optional.hpp>
+#include <optional>
 
 #ifdef _MSC_VER
 #pragma warning(push)
 #pragma warning(disable:4583)
 #pragma warning(disable:4582)
-#include <boost/variant2/variant.hpp>
+#include <variant>
 #pragma warning(pop)
 #else
-#include <boost/variant2/variant.hpp>
+#include <variant>
 #endif
 
 #include <tuple>
@@ -28,21 +28,21 @@ MSGPACK_API_VERSION_NAMESPACE(MSGPACK_DEFAULT_API_NS) {
 namespace adaptor {
 
   // ===========================================================================
-  // -- Adaptors for boost::optional -------------------------------------------
+  // -- Adaptors for std::optional -------------------------------------------
   // ===========================================================================
 
   template<typename T>
-  struct convert<boost::optional<T>> {
+  struct convert<std::optional<T>> {
     const clmdep_msgpack::object &operator()(
         const clmdep_msgpack::object &o,
-        boost::optional<T> &v) const {
+        std::optional<T> &v) const {
       if (o.type != clmdep_msgpack::type::ARRAY) {
         ::carla::throw_exception(clmdep_msgpack::type_error());
       }
       if (o.via.array.size == 1) {
         v.reset();
       } else if (o.via.array.size == 2) {
-        v.reset(o.via.array.ptr[1].as<T>());
+        v = o.via.array.ptr[1].as<T>();
       } else {
         ::carla::throw_exception(clmdep_msgpack::type_error());
       }
@@ -51,11 +51,11 @@ namespace adaptor {
   };
 
   template<typename T>
-  struct pack<boost::optional<T>> {
+  struct pack<std::optional<T>> {
     template <typename Stream>
     packer<Stream> &operator()(
         clmdep_msgpack::packer<Stream> &o,
-        const boost::optional<T> &v) const {
+        const std::optional<T> &v) const {
       if (v.has_value()) {
         o.pack_array(2);
         o.pack(true);
@@ -69,10 +69,10 @@ namespace adaptor {
   };
 
   template<typename T>
-  struct object_with_zone<boost::optional<T>> {
+  struct object_with_zone<std::optional<T>> {
     void operator()(
         clmdep_msgpack::object::with_zone &o,
-        const boost::optional<T> &v) const {
+        const std::optional<T> &v) const {
       o.type = type::ARRAY;
       if (v.has_value()) {
         o.via.array.size = 2;
@@ -92,15 +92,15 @@ namespace adaptor {
   };
 
   // ===========================================================================
-  // -- Adaptors for boost::variant2::variant ----------------------------------
+  // -- Adaptors for std::variant ----------------------------------
   // ===========================================================================
 
   template<typename... Ts>
-  struct convert<boost::variant2::variant<Ts...>> {
+  struct convert<std::variant<Ts...>> {
 
     const clmdep_msgpack::object &operator()(
         const clmdep_msgpack::object &o,
-        boost::variant2::variant<Ts...> &v) const {
+        std::variant<Ts...> &v) const {
       if (o.type != clmdep_msgpack::type::ARRAY) {
         ::carla::throw_exception(clmdep_msgpack::type_error());
       }
@@ -117,7 +117,7 @@ namespace adaptor {
     template <uint64_t I>
     static void copy_to_variant_impl(
         const clmdep_msgpack::object &o,
-        boost::variant2::variant<Ts...> &v) {
+        std::variant<Ts...> &v) {
       /// @todo Workaround for finding the type.
       auto dummy = std::get<I>(std::tuple<Ts...>{});
       using T = decltype(dummy);
@@ -128,7 +128,7 @@ namespace adaptor {
     static void copy_to_variant(
         const uint64_t index,
         const clmdep_msgpack::object &o,
-        boost::variant2::variant<Ts...> &v,
+        std::variant<Ts...> &v,
         std::index_sequence<Is...>) {
       std::initializer_list<int> ({
         (index == Is ? copy_to_variant_impl<Is>(o, v), 0 : 0)...
@@ -137,30 +137,30 @@ namespace adaptor {
   };
 
   template<typename... Ts>
-  struct pack<boost::variant2::variant<Ts...>> {
+  struct pack<std::variant<Ts...>> {
     template <typename Stream>
     packer<Stream> &operator()(
         clmdep_msgpack::packer<Stream> &o,
-        const boost::variant2::variant<Ts...> &v) const {
+        const std::variant<Ts...> &v) const {
       o.pack_array(2);
       o.pack(static_cast<uint64_t>(v.index()));
-      boost::variant2::visit([&](const auto &value) { o.pack(value); }, v);
+      std::visit([&](const auto &value) { o.pack(value); }, v);
       return o;
     }
   };
 
   template<typename... Ts>
-  struct object_with_zone<boost::variant2::variant<Ts...>> {
+  struct object_with_zone<std::variant<Ts...>> {
     void operator()(
         clmdep_msgpack::object::with_zone &o,
-        const boost::variant2::variant<Ts...> &v) const {
+        const std::variant<Ts...> &v) const {
       o.type = type::ARRAY;
       o.via.array.size = 2;
       o.via.array.ptr = static_cast<clmdep_msgpack::object*>(o.zone.allocate_align(
           sizeof(clmdep_msgpack::object) * o.via.array.size,
           MSGPACK_ZONE_ALIGNOF(clmdep_msgpack::object)));
       o.via.array.ptr[0] = clmdep_msgpack::object(static_cast<uint64_t>(v.index()), o.zone);
-      boost::variant2::visit([&](const auto &value) {
+      std::visit([&](const auto &value) {
         o.via.array.ptr[1] = clmdep_msgpack::object(value, o.zone);
       }, v);
     }

LibCarla/source/carla/NonCopyable.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/Platform.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/PythonUtil.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/RecurrentSharedFuture.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -9,15 +9,15 @@
 #include "carla/Exception.h"
 #include "carla/Time.h"
 
-#include <boost/optional.hpp>
+#include <optional>
 #ifdef _MSC_VER
 #pragma warning(push)
 #pragma warning(disable:4583)
 #pragma warning(disable:4582)
-#include <boost/variant2/variant.hpp>
+#include <variant>
 #pragma warning(pop)
 #else
-#include <boost/variant2/variant.hpp>
+#include <variant>
 #endif
 
 #include <condition_variable>
@@ -49,7 +49,7 @@ namespace detail {
     /// simultaneously.
     ///
     /// @return empty optional if the timeout is met.
-    boost::optional<T> WaitFor(time_duration timeout);
+    std::optional<T> WaitFor(time_duration timeout);
 
     /// Set the value and notify all waiting threads.
     template <typename T2>
@@ -71,7 +71,7 @@ namespace detail {
 
     struct mapped_type {
       bool should_wait;
-      boost::variant2::variant<SharedException, T> value;
+      std::variant<SharedException, T> value;
     };
 
     std::map<const char *, mapped_type> _map;
@@ -110,7 +110,7 @@ namespace detail {
 } // namespace detail
 
   template <typename T>
-  boost::optional<T> RecurrentSharedFuture<T>::WaitFor(time_duration timeout) {
+  std::optional<T> RecurrentSharedFuture<T>::WaitFor(time_duration timeout) {
     std::unique_lock<std::mutex> lock(_mutex);
     auto &r = _map[&detail::thread_tag];
     r.should_wait = true;
@@ -118,15 +118,15 @@ namespace detail {
       return {};
     }
     if (r.value.index() == 0) {
-      throw_exception(boost::variant2::get<SharedException>(r.value));
+      throw_exception(std::get<SharedException>(r.value));
     }
-    return boost::variant2::get<T>(std::move(r.value));
+    return std::get<T>(std::move(r.value));
   }
 
   template <typename T>
   template <typename T2>
   void RecurrentSharedFuture<T>::SetValue(const T2 &value) {
-    std::lock_guard<std::mutex> lock(_mutex);
+    std::scoped_lock<std::mutex> lock(_mutex);
     for (auto &pair : _map) {
       pair.second.should_wait = false;
       pair.second.value = value;

LibCarla/source/carla/Sockets.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/StopWatch.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/StringUtil.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/StringUtil.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/ThreadGroup.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/ThreadPool.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -39,12 +39,7 @@ namespace carla {
     /// Post a task to the pool.
     template <
       typename FunctorT,
-#if __cplusplus < 201703L
-      typename ResultT = typename std::result_of_t<FunctorT()>
-#else
-      typename ResultT = typename std::invoke_result_t<FunctorT()>
-#endif
-    >
+      typename ResultT = typename std::invoke_result_t<FunctorT()>>
     std::future<ResultT> Post(FunctorT &&functor) {
       auto task = std::packaged_task<ResultT()>(std::forward<FunctorT>(functor));
       auto future = task.get_future();

LibCarla/source/carla/Time.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -7,11 +7,12 @@
 #pragma once
 
 #include "carla/Debug.h"
-
-#include <boost/date_time/posix_time/posix_time_types.hpp>
-
 #include <chrono>
 
+#if __has_include(<boost/date_time/posix_time/posix_time_types.hpp>)
+#include <boost/date_time/posix_time/posix_time_types.hpp>
+#endif
+
 namespace carla {
 
   /// Positive time duration up to milliseconds resolution. Automatically casts
@@ -36,16 +37,19 @@ namespace carla {
           DEBUG_ASSERT(count >= 0);
           return static_cast<size_t>(count);
         }()) {}
-
-    time_duration(boost::posix_time::time_duration timeout)
-      : time_duration(std::chrono::milliseconds(timeout.total_milliseconds())) {}
-
     time_duration(const time_duration &) = default;
     time_duration &operator=(const time_duration &) = default;
 
+#if __has_include(<boost/date_time/posix_time/posix_time_types.hpp>)
+    time_duration(boost::posix_time::time_duration timeout)
+      : time_duration(std::chrono::milliseconds(timeout.total_milliseconds()))
+    {
+    }
+
     boost::posix_time::time_duration to_posix_time() const {
       return boost::posix_time::milliseconds(_milliseconds);
     }
+#endif
 
     constexpr auto to_chrono() const {
       return std::chrono::milliseconds(_milliseconds);

LibCarla/source/carla/TypeTraits.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Actor.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Actor.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ActorAttribute.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ActorAttribute.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ActorBlueprint.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ActorBlueprint.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ActorList.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ActorList.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ActorSnapshot.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/BlueprintLibrary.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/BlueprintLibrary.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Client.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ClientSideSensor.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/DebugHelper.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/DebugHelper.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/FIleTransfer.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/FileTransfer.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/GarbageCollectionPolicy.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Junction.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Junction.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Landmark.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/LaneInvasionSensor.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -144,7 +144,7 @@ namespace client {
   }
 
   void LaneInvasionSensor::Listen(CallbackFunctionType callback) {
-    auto vehicle = boost::dynamic_pointer_cast<Vehicle>(GetParent());
+    auto vehicle = std::dynamic_pointer_cast<Vehicle>(GetParent());
     if (vehicle == nullptr) {
       log_error(GetDisplayId(), ": not attached to a vehicle");
       return;

LibCarla/source/carla/client/LaneInvasionSensor.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Light.cpp

@@ -1,5 +1,5 @@
 
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Light.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/LightManager.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -216,7 +216,7 @@ bool LightManager::IsActive(LightId id) const {
 }
 
 void LightManager::SetActive(LightId id, bool active) {
-  std::lock_guard<std::mutex> lock(_mutex);
+  std::scoped_lock<std::mutex> lock(_mutex);
   LightState& state = const_cast<LightState&>(RetrieveLightState(id));
   state._active = active;
   _lights_changes[id] = state;
@@ -224,7 +224,7 @@ void LightManager::SetActive(LightId id, bool active) {
 }
 
 void LightManager::SetColor(LightId id, Color color) {
-  std::lock_guard<std::mutex> lock(_mutex);
+  std::scoped_lock<std::mutex> lock(_mutex);
   LightState& state = const_cast<LightState&>(RetrieveLightState(id));
   state._color = color;
   _lights_changes[id] = state;
@@ -232,7 +232,7 @@ void LightManager::SetColor(LightId id, Color color) {
 }
 
 void LightManager::SetIntensity(LightId id, float intensity) {
-  std::lock_guard<std::mutex> lock(_mutex);
+  std::scoped_lock<std::mutex> lock(_mutex);
   LightState& state = const_cast<LightState&>(RetrieveLightState(id));
   state._intensity = intensity;
   _lights_changes[id] = state;
@@ -240,7 +240,7 @@ void LightManager::SetIntensity(LightId id, float intensity) {
 }
 
 void LightManager::SetLightState(LightId id, const LightState& new_state) {
-  std::lock_guard<std::mutex> lock(_mutex);
+  std::scoped_lock<std::mutex> lock(_mutex);
   LightState& state = const_cast<LightState&>(RetrieveLightState(id));
   state = new_state;
   _lights_changes[id] = state;
@@ -254,7 +254,7 @@ void LightManager::SetLightStateNoLock(LightId id, const LightState& new_state)
 }
 
 void LightManager::SetLightGroup(LightId id, LightGroup group) {
-  std::lock_guard<std::mutex> lock(_mutex);
+  std::scoped_lock<std::mutex> lock(_mutex);
   LightState& state = const_cast<LightState&>(RetrieveLightState(id));
   state._group = group;
   _lights_changes[id] = state;
@@ -271,7 +271,7 @@ const LightState& LightManager::RetrieveLightState(LightId id) const {
 }
 
 void LightManager::QueryLightsStateToServer() {
-  std::lock_guard<std::mutex> lock(_mutex);
+  std::scoped_lock<std::mutex> lock(_mutex);
   // Send blocking query
   std::vector<rpc::LightState> lights_snapshot = _episode.Lock()->QueryLightsStateToServer();
 
@@ -294,7 +294,7 @@ void LightManager::QueryLightsStateToServer() {
 }
 
 void LightManager::UpdateServerLightsState(bool discard_client) {
-  std::lock_guard<std::mutex> lock(_mutex);
+  std::scoped_lock<std::mutex> lock(_mutex);
 
   if(_dirty) {
     std::vector<rpc::LightState> message;
@@ -321,7 +321,7 @@ void LightManager::UpdateServerLightsState(bool discard_client) {
 }
 
 void LightManager::ApplyChanges() {
-  std::lock_guard<std::mutex> lock(_mutex);
+  std::scoped_lock<std::mutex> lock(_mutex);
   for(const auto& it : _lights_changes) {
     SetLightStateNoLock(it.first, it.second);
   }

LibCarla/source/carla/client/LightManager.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/LightState.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Map.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -45,7 +45,7 @@ namespace client {
   const geom::Location &location,
   bool project_to_road,
   int32_t lane_type) const {
-    boost::optional<road::element::Waypoint> waypoint;
+    std::optional<road::element::Waypoint> waypoint;
     if (project_to_road) {
       waypoint = _map.GetClosestWaypointOnRoad(location, lane_type);
     } else {
@@ -60,7 +60,7 @@ namespace client {
       carla::road::RoadId road_id,
       carla::road::LaneId lane_id,
       float s) const {
-    boost::optional<road::element::Waypoint> waypoint;
+    std::optional<road::element::Waypoint> waypoint;
     waypoint = _map.GetWaypoint(road_id, lane_id, s);
     return waypoint.has_value() ?
         SharedPtr<Waypoint>(new Waypoint{shared_from_this(), *waypoint}) :

LibCarla/source/carla/client/Map.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Sensor.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ServerSideSensor.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/ServerSideSensor.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/TimeoutException.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/TimeoutException.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Timestamp.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/TrafficLight.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -69,7 +69,7 @@ namespace client {
     auto ids = GetEpisode().Lock()->GetGroupTrafficLights(*this);
     for (auto id : ids) {
       SharedPtr<Actor> actor = GetWorld().GetActors()->Find(id);
-      result.push_back(boost::static_pointer_cast<TrafficLight>(actor));
+      result.push_back(std::static_pointer_cast<TrafficLight>(actor));
     }
     return result;
   }

LibCarla/source/carla/client/TrafficLight.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/TrafficSign.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/TrafficSign.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Vehicle.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -117,7 +117,7 @@ namespace client {
 
   SharedPtr<TrafficLight> Vehicle::GetTrafficLight() const {
     auto id = GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.traffic_light_id;
-    return boost::static_pointer_cast<TrafficLight>(GetWorld().GetActor(id));
+    return std::static_pointer_cast<TrafficLight>(GetWorld().GetActor(id));
   }
 
   void Vehicle::EnableCarSim(std::string simfile_path) {

LibCarla/source/carla/client/Vehicle.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Walker.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/Walker.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/WalkerAIController.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -44,7 +44,7 @@ namespace client {
     }
   }
 
-  boost::optional<geom::Location> WalkerAIController::GetRandomLocation() {
+  std::optional<geom::Location> WalkerAIController::GetRandomLocation() {
     auto nav = GetEpisode().Lock()->GetNavigation();
     if (nav != nullptr) {
       return nav->GetRandomLocation();

LibCarla/source/carla/client/WalkerAIController.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -9,7 +9,7 @@
 #include "carla/client/Actor.h"
 #include "carla/geom/Vector3D.h"
 
-#include <boost/optional.hpp>
+#include <optional>
 
 namespace carla {
 namespace client {
@@ -23,7 +23,7 @@ namespace client {
 
     void Stop();
 
-    boost::optional<geom::Location> GetRandomLocation();
+    std::optional<geom::Location> GetRandomLocation();
 
     void GoToLocation(const carla::geom::Location &destination);
 

LibCarla/source/carla/client/Waypoint.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -145,18 +145,18 @@ namespace client {
     return nullptr;
   }
 
-  boost::optional<road::element::LaneMarking> Waypoint::GetRightLaneMarking() const {
+  std::optional<road::element::LaneMarking> Waypoint::GetRightLaneMarking() const {
     if (_mark_record.first != nullptr) {
       return road::element::LaneMarking(*_mark_record.first);
     }
-    return boost::optional<road::element::LaneMarking>{};
+    return std::optional<road::element::LaneMarking>{};
   }
 
-  boost::optional<road::element::LaneMarking> Waypoint::GetLeftLaneMarking() const {
+  std::optional<road::element::LaneMarking> Waypoint::GetLeftLaneMarking() const {
     if (_mark_record.second != nullptr) {
       return road::element::LaneMarking(*_mark_record.second);
     }
-    return boost::optional<road::element::LaneMarking>{};
+    return std::optional<road::element::LaneMarking>{};
   }
 
   template <typename EnumT>

LibCarla/source/carla/client/Waypoint.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -15,7 +15,7 @@
 #include "carla/road/Lane.h"
 #include "carla/road/RoadTypes.h"
 
-#include <boost/optional.hpp>
+#include <optional>
 
 namespace carla {
 namespace client {
@@ -85,9 +85,9 @@ namespace client {
 
     SharedPtr<Waypoint> GetLeft() const;
 
-    boost::optional<road::element::LaneMarking> GetRightLaneMarking() const;
+    std::optional<road::element::LaneMarking> GetRightLaneMarking() const;
 
-    boost::optional<road::element::LaneMarking> GetLeftLaneMarking() const;
+    std::optional<road::element::LaneMarking> GetLeftLaneMarking() const;
 
     road::element::LaneMarking::LaneChange GetLaneChange() const;
 

LibCarla/source/carla/client/World.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -41,7 +41,7 @@ namespace client {
     return _episode.Lock()->GetVehiclesLightStates();
   }
 
-  boost::optional<geom::Location> World::GetRandomLocationFromNavigation() const {
+  std::optional<geom::Location> World::GetRandomLocationFromNavigation() const {
     return _episode.Lock()->GetRandomLocationFromNavigation();
   }
 
@@ -68,7 +68,7 @@ namespace client {
       for (auto i = 0u; i < number_of_attemps; i++) {
         const auto curr_snapshot = GetSnapshot();
 
-        const double error = abs(new_settings.fixed_delta_seconds.get() - curr_snapshot.GetTimestamp().delta_seconds);
+        const double error = abs(new_settings.fixed_delta_seconds.value() - curr_snapshot.GetTimestamp().delta_seconds);
         if (error < std::numeric_limits<float>::epsilon())
           tics_correct++;
 
@@ -237,7 +237,7 @@ namespace client {
     _episode.Lock()->EnableEnvironmentObjects(env_objects_ids, enable);
   }
 
-  boost::optional<rpc::LabelledPoint> World::ProjectPoint(
+  std::optional<rpc::LabelledPoint> World::ProjectPoint(
       geom::Location location, geom::Vector3D direction, float search_distance) const {
     auto result = _episode.Lock()->ProjectPoint(location, direction, search_distance);
     if (result.first) {
@@ -246,7 +246,7 @@ namespace client {
     return {};
   }
 
-  boost::optional<rpc::LabelledPoint> World::GroundProjection(
+  std::optional<rpc::LabelledPoint> World::GroundProjection(
       geom::Location location, float search_distance) const {
     const geom::Vector3D DownVector(0,0,-1);
     return ProjectPoint(location, DownVector, search_distance);

LibCarla/source/carla/client/World.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -29,7 +29,7 @@
 #include "carla/rpc/Texture.h"
 #include "carla/rpc/MaterialParameter.h"
 
-#include <boost/optional.hpp>
+#include <optional>
 
 namespace carla {
 namespace client {
@@ -76,7 +76,7 @@ namespace client {
     rpc::VehicleLightStateList GetVehiclesLightStates() const;
 
     /// Get a random location from the pedestrians navigation mesh
-    boost::optional<geom::Location> GetRandomLocationFromNavigation() const;
+    std::optional<geom::Location> GetRandomLocationFromNavigation() const;
 
     /// Return the spectator actor. The spectator controls the view in the
     /// simulator window.
@@ -177,10 +177,10 @@ namespace client {
       std::vector<uint64_t> env_objects_ids,
       bool enable) const;
 
-    boost::optional<rpc::LabelledPoint> ProjectPoint(
+    std::optional<rpc::LabelledPoint> ProjectPoint(
         geom::Location location, geom::Vector3D direction, float search_distance = 10000.f) const;
 
-    boost::optional<rpc::LabelledPoint> GroundProjection(
+    std::optional<rpc::LabelledPoint> GroundProjection(
         geom::Location location, float search_distance = 10000.0) const;
 
     std::vector<rpc::LabelledPoint> CastRay(

LibCarla/source/carla/client/WorldSnapshot.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -10,7 +10,7 @@
 #include "carla/client/ActorSnapshot.h"
 #include "carla/client/detail/EpisodeState.h"
 
-#include <boost/optional.hpp>
+#include <optional>
 
 namespace carla {
 namespace client {
@@ -41,7 +41,7 @@ namespace client {
     }
 
     /// Find an ActorSnapshot by id.
-    boost::optional<ActorSnapshot> Find(ActorId actor_id) const {
+    std::optional<ActorSnapshot> Find(ActorId actor_id) const {
       return _state->GetActorSnapshotIfPresent(actor_id);
     }
 

LibCarla/source/carla/client/detail/ActorFactory.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/ActorFactory.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/ActorState.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/ActorState.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/ActorVariant.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -16,7 +16,7 @@ namespace detail {
   void ActorVariant::MakeActor(EpisodeProxy episode) const {
     _value = detail::ActorFactory::MakeActor(
         episode,
-        boost::variant2::get<rpc::Actor>(std::move(_value)),
+        std::get<rpc::Actor>(std::move(_value)),
         GarbageCollectionPolicy::Disabled);
   }
 

LibCarla/source/carla/client/detail/ActorVariant.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -16,10 +16,10 @@
 #pragma warning(push)
 #pragma warning(disable:4583)
 #pragma warning(disable:4582)
-#include <boost/variant2/variant.hpp>
+#include <variant>
 #pragma warning(pop)
 #else
-#include <boost/variant2/variant.hpp>
+#include <variant>
 #endif
 
 namespace carla {
@@ -51,11 +51,11 @@ namespace detail {
         MakeActor(episode);
       }
       DEBUG_ASSERT(_value.index() == 1u);
-      return boost::variant2::get<SharedPtr<client::Actor>>(_value);
+      return std::get<SharedPtr<client::Actor>>(_value);
     }
 
     const rpc::Actor &Serialize() const {
-      return boost::variant2::visit(Visitor(), _value);
+      return std::visit(Visitor(), _value);
     }
 
     ActorId GetId() const {
@@ -91,7 +91,7 @@ namespace detail {
 
     void MakeActor(EpisodeProxy episode) const;
 
-    mutable boost::variant2::variant<rpc::Actor, SharedPtr<client::Actor>> _value;
+    mutable std::variant<rpc::Actor, SharedPtr<client::Actor>> _value;
   };
 
 } // namespace detail

LibCarla/source/carla/client/detail/CachedActorList.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -44,7 +44,7 @@ namespace detail {
 
     /// Retrieve the actor matching @a id, or empty optional if actor is not
     /// cached.
-    boost::optional<rpc::Actor> GetActorById(ActorId id) const;
+    std::optional<rpc::Actor> GetActorById(ActorId id) const;
 
     /// Retrieve the actors matching the ids in @a range.
     template <typename RangeT>
@@ -64,7 +64,7 @@ namespace detail {
   // ===========================================================================
 
   inline void CachedActorList::Insert(rpc::Actor actor) {
-    std::lock_guard<std::mutex> lock(_mutex);
+    std::scoped_lock<std::mutex> lock(_mutex);
     auto id = actor.id;
     _actors.emplace(id, std::move(actor));
   }
@@ -78,7 +78,7 @@ namespace detail {
     auto make_iterator = [&make_a_pair](auto it) {
       return boost::make_transform_iterator(std::make_move_iterator(it), make_a_pair);
     };
-    std::lock_guard<std::mutex> lock(_mutex);
+    std::scoped_lock<std::mutex> lock(_mutex);
     _actors.insert(make_iterator(std::begin(range)), make_iterator(std::end(range)));
   }
 
@@ -86,27 +86,27 @@ namespace detail {
   inline std::vector<ActorId> CachedActorList::GetMissingIds(const RangeT &range) const {
     std::vector<ActorId> result;
     result.reserve(range.size());
-    std::lock_guard<std::mutex> lock(_mutex);
+    std::scoped_lock<std::mutex> lock(_mutex);
     std::copy_if(std::begin(range), std::end(range), std::back_inserter(result), [this](auto id) {
       return _actors.find(id) == _actors.end();
     });
     return result;
   }
 
-  inline boost::optional<rpc::Actor> CachedActorList::GetActorById(ActorId id) const {
-    std::lock_guard<std::mutex> lock(_mutex);
+  inline std::optional<rpc::Actor> CachedActorList::GetActorById(ActorId id) const {
+    std::scoped_lock<std::mutex> lock(_mutex);
     auto it = _actors.find(id);
     if (it != _actors.end()) {
       return it->second;
     }
-    return boost::none;
+    return std::nullopt;
   }
 
   template <typename RangeT>
   inline std::vector<rpc::Actor> CachedActorList::GetActorsById(const RangeT &range) const {
     std::vector<rpc::Actor> result;
     result.reserve(range.size());
-    std::lock_guard<std::mutex> lock(_mutex);
+    std::scoped_lock<std::mutex> lock(_mutex);
     for (auto &&id : range) {
       auto it = _actors.find(id);
       if (it != _actors.end()) {
@@ -117,7 +117,7 @@ namespace detail {
   }
 
   inline void CachedActorList::Clear() {
-    std::lock_guard<std::mutex> lock(_mutex);
+    std::scoped_lock<std::mutex> lock(_mutex);
     _actors.clear();
   }
 

LibCarla/source/carla/client/detail/CallbackList.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/Client.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/Client.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/Episode.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -110,7 +110,7 @@ using namespace std::chrono_literals;
     });
   }
 
-  boost::optional<rpc::Actor> Episode::GetActorById(ActorId id) {
+  std::optional<rpc::Actor> Episode::GetActorById(ActorId id) {
     auto actor = _actors.GetActorById(id);
     if (!actor.has_value()) {
       auto actor_list = _client.GetActorsById({id});

LibCarla/source/carla/client/detail/Episode.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -54,13 +54,13 @@ namespace detail {
       _actors.Insert(std::move(actor));
     }
 
-    boost::optional<rpc::Actor> GetActorById(ActorId id);
+    std::optional<rpc::Actor> GetActorById(ActorId id);
 
     std::vector<rpc::Actor> GetActorsById(const std::vector<ActorId> &actor_ids);
 
     std::vector<rpc::Actor> GetActors();
 
-    boost::optional<WorldSnapshot> WaitForState(time_duration timeout) {
+    std::optional<WorldSnapshot> WaitForState(time_duration timeout) {
       return _snapshot.WaitFor(timeout);
     }
 

LibCarla/source/carla/client/detail/EpisodeProxy.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/EpisodeProxy.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/EpisodeState.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

LibCarla/source/carla/client/detail/EpisodeState.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -14,7 +14,7 @@
 #include "carla/geom/Vector3DInt.h"
 #include "carla/sensor/data/RawEpisodeState.h"
 
-#include <boost/optional.hpp>
+#include <optional>
 
 #include <memory>
 #include <unordered_map>
@@ -70,8 +70,8 @@ namespace detail {
       return state;
     }
 
-    boost::optional<ActorSnapshot> GetActorSnapshotIfPresent(ActorId id) const {
-      boost::optional<ActorSnapshot> state;
+    std::optional<ActorSnapshot> GetActorSnapshotIfPresent(ActorId id) const {
+      std::optional<ActorSnapshot> state;
       CopyActorSnapshotIfPresent(id, state);
       return state;
     }

LibCarla/source/carla/client/detail/Simulator.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -264,7 +264,7 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
             "synchronous mode and substepping are enabled but the number of substeps is not valid. "
             "Please be aware that this value needs to be in the range [1-16].");
       }
-      double n_substeps = settings.fixed_delta_seconds.get() / settings.max_substep_delta_time;
+      double n_substeps = settings.fixed_delta_seconds.value() / settings.max_substep_delta_time;
 
       if (n_substeps > static_cast<double>(settings.max_substeps)) {
         log_warning(
@@ -320,7 +320,7 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
     nav->UnregisterWalker(walker->GetId(), controller.GetId());
   }
 
-  boost::optional<geom::Location> Simulator::GetRandomLocationFromNavigation() {
+  std::optional<geom::Location> Simulator::GetRandomLocationFromNavigation() {
     DEBUG_ASSERT(_episode != nullptr);
     auto nav = _episode->CreateNavigationIfMissing();
     return nav->GetRandomLocation();