From 03be9280658d5c8a49c06c5413b820b4e152ee14 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 16 Jul 2015 23:45:57 -0700
Subject: [PATCH] static Retract and Local are superfluous (do not belong to
 any concept)

---
 gtsam/base/Lie.h | 16 ----------------
 1 file changed, 16 deletions(-)

diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index 05c7bc20f..36370b4f5 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -83,22 +83,6 @@ struct LieGroup {
     return Class::Logmap(between(g));
   }
 
-  static Class Retract(const TangentVector& v) {
-    return Class::ChartAtOrigin::Retract(v);
-  }
-
-  static TangentVector LocalCoordinates(const Class& g) {
-    return Class::ChartAtOrigin::Local(g);
-  }
-
-  static Class Retract(const TangentVector& v, ChartJacobian H) {
-    return Class::ChartAtOrigin::Retract(v,H);
-  }
-
-  static TangentVector LocalCoordinates(const Class& g, ChartJacobian H) {
-    return Class::ChartAtOrigin::Local(g,H);
-  }
-
   Class retract(const TangentVector& v) const {
     return compose(Class::ChartAtOrigin::Retract(v));
   }