diff --git a/cartographer/mapping/pose_graph.h b/cartographer/mapping/pose_graph.h
index 1b595f4..2c57826 100644
--- a/cartographer/mapping/pose_graph.h
+++ b/cartographer/mapping/pose_graph.h
@@ -133,10 +133,6 @@ class PoseGraph : public PoseGraphInterface {
   virtual std::map<std::string /* landmark ID */, PoseGraph::LandmarkNode>
   GetLandmarkNodes() = 0;
 
-  // Sets global pose of landmark 'landmark_id' to given 'global_pose'.
-  virtual void SetLandmarkPose(const std::string& landmark_id,
-                               const transform::Rigid3d& global_pose) = 0;
-
   // Sets a relative initial pose 'relative_pose' for 'from_trajectory_id' with
   // respect to 'to_trajectory_id' at time 'time'.
   virtual void SetInitialTrajectoryPose(int from_trajectory_id,