remove duplicated constructors

gtsam/inference/GenericMultifrontalSolver-inl.h

@@ -35,11 +35,6 @@ template<class FACTOR, class JUNCTIONTREE>
 GenericMultifrontalSolver<FACTOR, JUNCTIONTREE>::GenericMultifrontalSolver(const FactorGraph<FACTOR>& factorGraph) :
     structure_(new VariableIndex(factorGraph)), junctionTree_(new JUNCTIONTREE(factorGraph, *structure_)) {}
 
-/* ************************************************************************* */
-template<class FACTOR, class JUNCTIONTREE>
-GenericMultifrontalSolver<FACTOR, JUNCTIONTREE>::GenericMultifrontalSolver(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph) :
-    structure_(new VariableIndex(*factorGraph)), junctionTree_(new JUNCTIONTREE(*factorGraph, *structure_)) {}
-
 /* ************************************************************************* */
 template<class FACTOR, class JUNCTIONTREE>
 GenericMultifrontalSolver<FACTOR, JUNCTIONTREE>::GenericMultifrontalSolver(

gtsam/inference/GenericMultifrontalSolver.h

@@ -45,12 +45,6 @@ public:
    */
   GenericMultifrontalSolver(const FactorGraph<FACTOR>& factorGraph);
 
-  /**
-   * Construct the solver for a factor graph.  This builds the junction
-   * tree, which already does some of the work of elimination.
-   */
-  GenericMultifrontalSolver(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph);
-
   /**
    * Construct the solver with a shared pointer to a factor graph and to a
    * VariableIndex.  The solver will store these pointers, so this constructor

gtsam/inference/GenericSequentialSolver-inl.h

@@ -34,12 +34,6 @@ GenericSequentialSolver<FACTOR>::GenericSequentialSolver(const FactorGraph<FACTO
     factors_(new FactorGraph<FACTOR>(factorGraph)), structure_(new VariableIndex(factorGraph)),
     eliminationTree_(EliminationTree<FACTOR>::Create(*factors_, *structure_)) {}
 
-/* ************************************************************************* */
-template<class FACTOR>
-GenericSequentialSolver<FACTOR>::GenericSequentialSolver(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph) :
-    factors_(factorGraph), structure_(new VariableIndex(*factorGraph)),
-    eliminationTree_(EliminationTree<FACTOR>::Create(*factors_, *structure_)) {}
-
 /* ************************************************************************* */
 template<class FACTOR>
 GenericSequentialSolver<FACTOR>::GenericSequentialSolver(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph,

gtsam/inference/GenericSequentialSolver.h

@@ -48,12 +48,6 @@ public:
    */
   GenericSequentialSolver(const FactorGraph<FACTOR>& factorGraph);
 
-  /**
-   * Construct the solver for a factor graph.  This builds the elimination
-   * tree, which already does some of the work of elimination.
-   */
-  GenericSequentialSolver(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph);
-
   /**
    * Construct the solver with a shared pointer to a factor graph and to a
    * VariableIndex.  The solver will store these pointers, so this constructor

gtsam/linear/GaussianMultifrontalSolver.cpp

@@ -30,10 +30,6 @@ namespace gtsam {
 GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>& factorGraph) :
     Base(factorGraph) {}
 
-/* ************************************************************************* */
-GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>::shared_ptr& factorGraph) :
-    Base(factorGraph) {}
-
 /* ************************************************************************* */
 GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>::shared_ptr& factorGraph, const VariableIndex::shared_ptr& variableIndex) :
     Base(factorGraph, variableIndex) {}

gtsam/linear/GaussianMultifrontalSolver.h

@@ -58,12 +58,6 @@ public:
    */
   GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>& factorGraph);
 
-  /**
-   * Construct the solver for a factor graph.  This builds the elimination
-   * tree, which already does some of the work of elimination.
-   */
-  GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>::shared_ptr& factorGraph);
-
   /**
    * Construct the solver with a shared pointer to a factor graph and to a
    * VariableIndex.  The solver will store these pointers, so this constructor

gtsam/linear/GaussianSequentialSolver.cpp

@@ -30,10 +30,6 @@ namespace gtsam {
 GaussianSequentialSolver::GaussianSequentialSolver(const FactorGraph<GaussianFactor>& factorGraph) :
     Base(factorGraph) {}
 
-/* ************************************************************************* */
-GaussianSequentialSolver::GaussianSequentialSolver(const FactorGraph<GaussianFactor>::shared_ptr& factorGraph) :
-    Base(factorGraph) {}
-
 /* ************************************************************************* */
 GaussianSequentialSolver::GaussianSequentialSolver(const FactorGraph<GaussianFactor>::shared_ptr& factorGraph,
     const VariableIndex::shared_ptr& variableIndex) :

gtsam/linear/GaussianSequentialSolver.h

@@ -65,12 +65,6 @@ public:
    */
   GaussianSequentialSolver(const FactorGraph<GaussianFactor>& factorGraph);
 
-  /**
-   * Construct the solver for a factor graph.  This builds the elimination
-   * tree, which already does some of the work of elimination.
-   */
-  GaussianSequentialSolver(const FactorGraph<GaussianFactor>::shared_ptr& factorGraph);
-
   /**
    * Construct the solver with a shared pointer to a factor graph and to a
    * VariableIndex.  The solver will store these pointers, so this constructor

gtsam/linear/SubgraphSolver.h

@@ -57,7 +57,7 @@ namespace gtsam {
 		SubgraphSolver(const GRAPH& G, const VALUES& theta0, const Parameters &parameters = Parameters()):
 			IterativeSolver(parameters){ initialize(G,theta0); }
 
-	  	SubgraphSolver(const typename LINEAR::shared_ptr& GFG) {
+		SubgraphSolver(const LINEAR& GFG) {
 			std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl;
 			throw std::runtime_error("SubgraphSolver: gaussian factor graph initialization not supported");
 		}

gtsam/nonlinear/NonlinearOptimizer-inl.h

@@ -176,7 +176,7 @@ namespace gtsam {
 
 		  // solve
 		  if(solver_) solver_->replaceFactors(damped);
-		  else solver_.reset(new S(damped));
+		  else solver_.reset(new S(*damped));
 
 		  VectorValues delta = *solver_->optimize();
 		  if (verbosity >= Parameters::TRYDELTA) delta.print("delta");