Minor adjustments

Author: mlsdpk

include/States/Algorithms/GraphBased/Utils.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <cmath>
+
 #include "States/Algorithms/GraphBased/Node.h"
 
 namespace path_finding_visualizer {

include/States/Algorithms/SamplingBased/SamplingBased.h

@@ -3,7 +3,6 @@
 #include <imgui-SFML.h>
 #include <imgui.h>
 
-#include <boost/math/constants/constants.hpp>
 #include <condition_variable>
 #include <future>
 #include <memory>

include/States/Algorithms/SamplingBased/Utils.h

@@ -1,7 +1,6 @@
 #pragma once
 
-#include <math.h>
-
+#include <cmath>
 #include <vector>
 
 namespace path_finding_visualizer {

src/States/Algorithms/SamplingBased/RRT_STAR/RRT_STAR.cpp

@@ -41,9 +41,7 @@ void RRT_STAR::initialize() {
   // update rewiring lower bounds
   // r_rrt > [(2*(1+1/d))*(area/unitNBallVolume)]^(1/d)
   r_rrt_ = rewire_factor_ *
-           std::pow(2 * (1.0 + 1.0 / 2.0) *
-                        (1.0 / boost::math::constants::pi<double>()),
-                    1.0 / 2.0);
+           std::pow(2 * (1.0 + 1.0 / 2.0) * (1.0 / M_PI), 1.0 / 2.0);
 }
 
 // override initPlanner() function