From 21b97ddedf928fbf396dabc50be22677054d9a7f Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 9 Dec 2014 01:04:21 +0100
Subject: [PATCH] Removed obsolete methods (but link error!)

---
 gtsam/geometry/Quaternion.h | 19 ++++++-------------
 1 file changed, 6 insertions(+), 13 deletions(-)

diff --git a/gtsam/geometry/Quaternion.h b/gtsam/geometry/Quaternion.h
index bb27b1d0b..3c2dbff6c 100644
--- a/gtsam/geometry/Quaternion.h
+++ b/gtsam/geometry/Quaternion.h
@@ -11,7 +11,7 @@
 
 /**
  * @file   Quaternion.h
- * @brief  Unit tests for unit quaternions
+ * @brief  Lie Group wrapper for Eigen Quaternions
  * @author Frank Dellaert
  **/
 
@@ -34,6 +34,7 @@ struct MakeQuaternionChart: LieGroupChart<
   typedef typename manifold::traits::TangentVector<Q>::type Omega;
 
   /// Exponential map given axis/angle representation of Lie algebra
+  /// TODO: obsolete? But see if not called now in Rot3Q
   static Q Expmap(const _Scalar& angle, const Eigen::Ref<const Omega>& axis) {
     return Q(Eigen::AngleAxis<_Scalar>(angle, axis));
   }
@@ -48,11 +49,6 @@ struct MakeQuaternionChart: LieGroupChart<
     }
   }
 
-  /// retract, simply be converting omega to AngleAxis
-  static Q Retract(const Q& p, const Eigen::Ref<const Omega>& omega) {
-    return p * Expmap(omega);
-  }
-
   /// We use our own Logmap, as there is a slight bug in Eigen
   static Omega Logmap(const Q& q) {
     using std::acos;
@@ -79,18 +75,15 @@ struct MakeQuaternionChart: LieGroupChart<
       return (angle / s) * q.vec();
     }
   }
-
-  /// local is our own, as there is a slight bug in Eigen
-  static Omega Local(const Q& q1, const Q& q2) {
-    return Logmap(q1.inverse() * q2);
-  }
 };
 
+// Define group traits
 #define QUATERNION_TEMPLATE typename _Scalar, int _Options
 #define QUATERNION_TYPE Eigen::Quaternion<_Scalar,_Options>
 GTSAM_GROUP_IDENTITY(QUATERNION_TEMPLATE, QUATERNION_TYPE)
 GTSAM_MULTIPLICATIVE_GROUP(QUATERNION_TEMPLATE, QUATERNION_TYPE)
 
+// Define manifold traits
 #define QUATERNION_TANGENT Eigen::Matrix<_Scalar, 3, 1, _Options, 3, 1>
 #define QUATERNION_CHART MakeQuaternionChart<_Scalar,_Options>
 GTSAM_MANIFOLD(QUATERNION_TEMPLATE, QUATERNION_TYPE, 3, QUATERNION_TANGENT,
@@ -98,8 +91,8 @@ GTSAM_MANIFOLD(QUATERNION_TEMPLATE, QUATERNION_TYPE, 3, QUATERNION_TANGENT,
 
 /// Define Eigen::Quaternion to be a model of the Lie Group concept
 namespace traits {
-template<typename S, int O>
-struct structure_category<Eigen::Quaternion<S, O> > {
+template<typename _Scalar, int _Options>
+struct structure_category<Eigen::Quaternion<_Scalar,_Options> > {
   typedef lie_group_tag type;
 };
 }