diff --git a/gtsam_unstable/linear/NP.h b/gtsam_unstable/linear/NP.h
deleted file mode 100644
index 309b4c2f8..000000000
--- a/gtsam_unstable/linear/NP.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/**
- * @file     NP.h
- * @brief    Use this virtual class to represent a non-linear
- *           problem. An implementation of this should provide
- *           approximation and differentiation services to
- *           allow SQP to work on the given problem.
- * @author   Ivan Dario Jimenez
- * @date     2/2/16
- */
-
-#pragma once
-
-#include <gtsam_unstable/linear/QP.h>
-
-namespace gtsam {
-
-class NP {
-public:
-  /*
-   * This function takes the a point and returns a quadratic 
-   * problem approximation to the non-linear Problem.
-   */
-  virtual QP approximate(const Vector& x) const = 0;
-
-  /*
-   * Differentiates the objective function of the non-linear 
-   * problem at point x.
-   */
-  virtual Vector objectiveDerivative(const Vector& x) const = 0;
-
-  /*
-   * Differentiates the constraints at point x.
-   */
-  virtual Vector constraintsDerivative(const Vector& x) const = 0;
-};
-
-}
diff --git a/gtsam_unstable/slam/tests/testPositionConstraints.cpp b/gtsam_unstable/slam/tests/testPositionConstraints.cpp
deleted file mode 100644
index bacf5dcbf..000000000
--- a/gtsam_unstable/slam/tests/testPositionConstraints.cpp
+++ /dev/null
@@ -1,176 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file    testPositionUpperBoundX.cpp
- * @brief   Unit tests for testPositionUpperBoundX
- * @author  Krunal Chande
- * @author  Duy-Nguyen Ta
- * @author  Luca Carlone
- * @date    Dec 16, 2014
- */
-
-#include <gtsam/base/numericalDerivative.h>
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/nonlinear/NonlinearFactor.h>
-#include <CppUnitLite/TestHarness.h>
-#include <iostream>
-
-namespace gtsam {
-
-template<class T>
-class LinearInequalityManifold1: public NoiseModelFactor1<T> {
-  typedef NoiseModelFactor1<T> Base;
-  typedef LinearInequalityManifold1<T> This;
-protected:
-  bool active_;
-public:
-
-  /// Constructor
-  LinearInequalityManifold1(Key key) :
-      Base(noiseModel::Constrained::All(1), key), active_(true) {
-  }
-
-  /** implement functions needed for Testable */
-
-  /** print */
-  virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
-      DefaultKeyFormatter) const {
-    std::cout << s << " key = { " << keyFormatter(this->key()) << "}"
-        << std::endl;
-    if (active_)
-      std::cout << " Active" << std::endl;
-    else
-      std::cout << " Inactive" << std::endl;
-  }
-
-  /** equals */
-  virtual bool equals(const NonlinearFactor& expected,
-      double tol = 1e-9) const {
-    const This* e = dynamic_cast<const This*>(&expected);
-    return e != NULL && Base::equals(*e, tol) && (active_ == e->active_);
-  }
-
-  /** Evaluate error MUST return a *one dimensional* vector,
-   * because we don't support multi-valued inequality factors
-   */
-  virtual Vector evaluateError(const T& x, boost::optional<Matrix&> H =
-      boost::none) const = 0;
-
-};
-
-/**
- * This class defines an inequality upper bound on x for a Pose3
- *      x <= upperBound
- */
-class PositionUpperBoundX: public LinearInequalityManifold1<Pose3> {
-  double upperBound_;
-  typedef LinearInequalityManifold1<Pose3> Base;
-  typedef PositionUpperBoundX This;
-public:
-  PositionUpperBoundX(Key key, const double upperBound) :
-      Base(key), upperBound_(upperBound) {
-  }
-
-  /// @return a deep copy of this factor
-  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
-    return boost::static_pointer_cast<NonlinearFactor>(
-        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
-  }
-
-  /** implement functions needed for Testable */
-
-  /** print */
-  virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
-      DefaultKeyFormatter) const {
-    Base::print(s);
-    std::cout << "PositionUpperBoundX" << std::endl;
-    std::cout << "x <= " << upperBound_ << std::endl;
-  }
-
-  /** equals */
-  virtual bool equals(const NonlinearFactor& expected,
-      double tol = 1e-9) const {
-    const This* e = dynamic_cast<const This*>(&expected);
-    return e != NULL && Base::equals(*e, tol) && (upperBound_ == e->upperBound_);
-  }
-
-  /**
-   * error = x - upperBound_
-   */
-  double computeError(const Pose3& pose) const {
-    return pose.x() - upperBound_;
-  }
-
-  /**
-   * error = x - upperBound_
-   */
-  Vector evaluateError(const Pose3& pose, boost::optional<Matrix&> H =
-      boost::none) const {
-    if (H)
-      *H = (Matrix(1, 6) << 0, 0, 0, 1, 0, 0).finished();
-    return (Vector(1) << computeError(pose)).finished();
-  }
-};
-}
-
-//******************************************************************************
-
-using namespace std;
-using namespace gtsam::symbol_shorthand;
-using namespace gtsam;
-
-//******************************************************************************
-TEST(PositionUpperBoundX, equals ) {
-  // Instantiate a class PositionUpperBoundX
-  PositionUpperBoundX ineq1(X(1), 1);
-
-  // Instantiate another class PositionUpperBoundX
-  PositionUpperBoundX ineq2(X(1), 1);
-
-  // check equals
-  CHECK(ineq1.equals(ineq2, 1e-5));
-}
-
-//******************************************************************************
-TEST(PositionUpperBoundX, evaluateError ) {
-  // Instantiate a class PositionUpperBoundX
-  PositionUpperBoundX ineq(X(1), 45.6);
-
-  Pose3 pose(Rot3::Ypr(0.1, 0.3, 0.2), Point3(43.0, 27.8, 91.1));
-  Matrix H;
-  Vector error = ineq.evaluateError(pose, H);
-
-  Matrix expectedH = numericalDerivative11<Vector, Pose3>(
-          boost::bind(&PositionUpperBoundX::evaluateError, ineq, _1, boost::none),
-      pose, 1e-5);
-
-  cout << "expectedH: " << expectedH << endl;
-  cout << "H: " << H << endl;
-
-  Vector expectedError = (Vector(1) << 0.0).finished();
-//  CHECK(assert_equal(expectedError, error, 1e-100));
-//  CHECK(assert_equal(expectedH, H, 1e-100));
-
-  Matrix hessian = numericalHessian<Pose3>(
-          boost::bind(&PositionUpperBoundX::computeError, ineq, _1),
-      pose, 1e-5);
-  cout << "Hessian: \n" << hessian << endl;
-}
-
-//******************************************************************************
-int main() {
-  TestResult tr;
-  return TestRegistry::runAllTests(tr);
-}
-//******************************************************************************
-