deprecated get_noiseModel

cython/README.md

@@ -62,7 +62,7 @@ Examples: noiseModel_Gaussian, noiseModel_mEstimator_Tukey
 - Casting from a base class to a derive class must be done explicitly.
 Examples:
 ```Python
-      noiseBase = factor.get_noiseModel()
+      noiseBase = factor.noiseModel()
       noiseGaussian = dynamic_cast_noiseModel_Gaussian_noiseModel_Base(noiseBase)
 ```
 

examples/Pose3SLAMExample_changeKeys.cpp

@@ -79,7 +79,7 @@ int main(const int argc, const char *argv[]) {
           key2 = pose3Between->key2() - firstKey;
         }
         NonlinearFactor::shared_ptr simpleFactor(
-            new BetweenFactor<Pose3>(key1, key2, pose3Between->measured(), pose3Between->get_noiseModel()));
+            new BetweenFactor<Pose3>(key1, key2, pose3Between->measured(), pose3Between->noiseModel()));
         simpleGraph.add(simpleFactor);
       }
     }

gtsam.h

@@ -1916,7 +1916,6 @@ virtual class NonlinearFactor {
 #include <gtsam/nonlinear/NonlinearFactor.h>
 virtual class NoiseModelFactor: gtsam::NonlinearFactor {
   bool equals(const gtsam::NoiseModelFactor& other, double tol) const;
-  gtsam::noiseModel::Base* get_noiseModel() const; // deprecated by below
   gtsam::noiseModel::Base* noiseModel() const;
   Vector unwhitenedError(const gtsam::Values& x) const;
   Vector whitenedError(const gtsam::Values& x) const;

gtsam/nonlinear/NonlinearFactor.h

@@ -29,14 +29,12 @@
 #include <boost/serialization/base_object.hpp>
 #include <boost/assign/list_of.hpp>
 
-/**
- * Macro to add a standard clone function to a derived factor
- * @deprecated: will go away shortly - just add the clone function directly
- */
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
 #define ADD_CLONE_NONLINEAR_FACTOR(Derived) \
   virtual gtsam::NonlinearFactor::shared_ptr clone() const { \
   return boost::static_pointer_cast<gtsam::NonlinearFactor>( \
       gtsam::NonlinearFactor::shared_ptr(new Derived(*this))); }
+#endif
 
 namespace gtsam {
 
@@ -213,11 +211,6 @@ public:
     return noiseModel_;
   }
 
-  /// @deprecated access to the noise model
-  SharedNoiseModel get_noiseModel() const {
-    return noiseModel_;
-  }
-
   /**
    * Error function *without* the NoiseModel, \f$ z-h(x) \f$.
    * Override this method to finish implementing an N-way factor.
@@ -248,6 +241,13 @@ public:
    */
   boost::shared_ptr<GaussianFactor> linearize(const Values& x) const;
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
+  /// @name Deprecated
+  /// @{
+  SharedNoiseModel get_noiseModel() const { return noiseModel_; }
+  /// @}
+#endif
+
 private:
 
   /** Serialization function */

gtsam/slam/GeneralSFMFactor.h

@@ -153,7 +153,7 @@ public:
     }
 
     // Whiten the system if needed
-    const SharedNoiseModel& noiseModel = this->get_noiseModel();
+    const SharedNoiseModel& noiseModel = this->noiseModel();
     if (noiseModel && !noiseModel->isUnit()) {
       // TODO: implement WhitenSystem for fixed size matrices and include
       // above

gtsampy.h

@@ -1742,7 +1742,7 @@ virtual class NonlinearFactor {
 
 virtual class NoiseModelFactor: gtsam::NonlinearFactor {
   void equals(const gtsam::NoiseModelFactor& other, double tol) const;
-  gtsam::noiseModel::Base* get_noiseModel() const;
+  gtsam::noiseModel::Base* noiseModel() const;
   Vector unwhitenedError(const gtsam::Values& x) const;
   Vector whitenedError(const gtsam::Values& x) const;
 };