diff --git a/examples/matlab/Pose2SLAMExample_advanced.m b/examples/matlab/Pose2SLAMExample_advanced.m
index 3edb34782..2199def5b 100644
--- a/examples/matlab/Pose2SLAMExample_advanced.m
+++ b/examples/matlab/Pose2SLAMExample_advanced.m
@@ -55,10 +55,10 @@ initialEstimate.insertPose(x3, gtsamPose2(4.1, 0.1, 0.1));
 initialEstimate.print('initial estimate');
 
 %% set up solver, choose ordering and optimize
-params = gtsamNonlinearOptimizationParameters_newDecreaseThresholds(1e-15, 1e-15);
-
-ord = graph.orderingCOLAMD(initialEstimate);
-
+%params = gtsamNonlinearOptimizationParameters_newDecreaseThresholds(1e-15, 1e-15);
+%
+%ord = graph.orderingCOLAMD(initialEstimate);
+%
 %result = pose2SLAMOptimizer(graph,initialEstimate,ord,params);                      
 %result.print('final result');
 
diff --git a/gtsam.h b/gtsam.h
index 0e4d70e16..18c8921cb 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -410,15 +410,6 @@ class Ordering {
 	void push_back(size_t key);
 };
 
-class NonlinearOptimizationParameters {
-	NonlinearOptimizationParameters(double absDecrease, double relDecrease,
-			double sumError, int iIters, double lambda, double lambdaFactor);
-	void print(string s) const;
-	static gtsam::NonlinearOptimizationParameters* newDecreaseThresholds(double absDecrease,
-			double relDecrease);
-};
-
-
 }///\namespace gtsam
 
 //*************************************************************************
@@ -464,12 +455,6 @@ class Odometry {
 	gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, const gtsam::Ordering& ordering) const;
 };
 
-class Optimizer {
-	Optimizer(planarSLAM::Graph* graph, planarSLAM::Values* values,
-	    gtsam::Ordering* ordering, gtsam::NonlinearOptimizationParameters* parameters);
-	void print(string s) const;
-};
-
 }///\namespace planarSLAM
 
 //*************************************************************************
@@ -502,12 +487,6 @@ class Graph {
   pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate);
 };
 
-class Optimizer {
-	Optimizer(pose2SLAM::Graph* graph, pose2SLAM::Values* values,
-	    gtsam::Ordering* ordering, gtsam::NonlinearOptimizationParameters* parameters);
-	void print(string s) const;
-};
-
 }///\namespace pose2SLAM
 
 //*************************************************************************