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Removed legacy code

release/4.3a0
dellaert 2014-12-02 11:10:29 +01:00
parent d7bf997197
commit 1330d6b7f2
1 changed files with 0 additions and 10 deletions
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10
gtsam_unstable/nonlinear/ExpressionFactor.h
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@ -35,7 +35,6 @@ class ExpressionFactor: public NoiseModelFactor {
T measurement_; ///< the measurement to be compared with the expression T measurement_; ///< the measurement to be compared with the expression
Expression<T> expression_; ///< the expression that is AD enabled Expression<T> expression_; ///< the expression that is AD enabled
FastVector<int> dims_; ///< dimensions of the Jacobian matrices FastVector<int> dims_; ///< dimensions of the Jacobian matrices
size_t augmentedCols_; ///< total number of columns + 1 (for RHS)
static const int Dim = traits::dimension<T>::value; static const int Dim = traits::dimension<T>::value;
@ -55,15 +54,6 @@ public:
// Get keys and dimensions for Jacobian matrices // Get keys and dimensions for Jacobian matrices
// An Expression is assumed unmutable, so we do this now // An Expression is assumed unmutable, so we do this now
boost::tie(keys_, dims_) = expression_.keysAndDims(); boost::tie(keys_, dims_) = expression_.keysAndDims();
// Add sizes to know how much memory to allocate on stack in linearize
augmentedCols_ = std::accumulate(dims_.begin(), dims_.end(), 1);
#ifdef DEBUG_ExpressionFactor
BOOST_FOREACH(size_t d, dims_)
std::cout << d << " ";
std::cout << " -> " << Dim << "x" << augmentedCols_ << std::endl;
#endif
} }
/** /**