diff --git a/cartographer/mapping_3d/translation_cost_function.h b/cartographer/mapping_3d/translation_cost_function.h
deleted file mode 100644
index ffeca48..0000000
--- a/cartographer/mapping_3d/translation_cost_function.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef CARTOGRAPHER_MAPPING_3D_TRANSLATION_COST_FUNCTION_H_
-#define CARTOGRAPHER_MAPPING_3D_TRANSLATION_COST_FUNCTION_H_
-
-#include "Eigen/Core"
-#include "Eigen/Geometry"
-
-namespace cartographer {
-namespace mapping_3d {
-
-// Penalizes differences between velocity and change in position.
-class TranslationCostFunction {
- public:
-  TranslationCostFunction(const double scaling_factor,
-                          const double delta_time_seconds)
-      : scaling_factor_(scaling_factor),
-        delta_time_seconds_(delta_time_seconds) {}
-
-  TranslationCostFunction(const TranslationCostFunction&) = delete;
-  TranslationCostFunction& operator=(const TranslationCostFunction&) = delete;
-
-  template <typename T>
-  bool operator()(const T* const start_translation,
-                  const T* const end_translation, const T* const velocity,
-                  T* residual) const {
-    const T delta_x = end_translation[0] - start_translation[0];
-    const T delta_y = end_translation[1] - start_translation[1];
-    const T delta_z = end_translation[2] - start_translation[2];
-
-    residual[0] =
-        scaling_factor_ * (delta_x - velocity[0] * delta_time_seconds_);
-    residual[1] =
-        scaling_factor_ * (delta_y - velocity[1] * delta_time_seconds_);
-    residual[2] =
-        scaling_factor_ * (delta_z - velocity[2] * delta_time_seconds_);
-    return true;
-  }
-
- private:
-  const double scaling_factor_;
-  const double delta_time_seconds_;
-};
-
-}  // namespace mapping_3d
-}  // namespace cartographer
-
-#endif  // CARTOGRAPHER_MAPPING_3D_TRANSLATION_COST_FUNCTION_H_