Removed some remaining references to LDL, which isn't used at all right now

base/Matrix.cpp

@@ -45,10 +45,6 @@ extern "C" {
 #include <boost/numeric/ublas/vector_proxy.hpp>
 #include <boost/tuple/tuple.hpp>
 
-#ifdef GT_USE_LDL
-#include <suitesparse/ldl.h>
-#endif
-
 #include <gtsam/base/Matrix-inl.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/svdcmp.h>

base/Matrix.h

@@ -277,6 +277,8 @@ void householder(Matrix& A);
  * Householder tranformation directly on a column-major matrix.  Does not zero
  * below the diagonal, so it will contain Householder vectors.
  * @return nothing: in place !!!
+ * FIXME: this uses the LAPACK QR function, so it cannot be used on Ubuntu (without
+ * lots of hacks, at least)
  */
 void householderColMajor(MatrixColMajor& A);
 #endif

base/tests/testMatrix.cpp

@@ -974,38 +974,6 @@ TEST( matrix, transposeMultiplyAdd )
 	CHECK(assert_equal(expected, x));
 }
 
-/* ************************************************************************* */
-#ifdef GT_USE_LDL
-TEST( matrix, LDL_factorization ) {
-
-	// run demo inside Matrix.cpp code
-
-	// create a matrix (from ldlsimple.c example)
-	Matrix A = Matrix_(10, 10,
-			1.7,    0.0,   0.0,   0.0,   0.0,   0.0,   0.0,   0.0,  .13,   0.0,
-			0.0,   1.,    0.0,   0.0,  .02,    0.0,   0.0,   0.0,   0.0,  .01,
-			0.0,   0.0,  1.5,    0.0,   0.0,   0.0,   0.0,   0.0,   0.0,  0.0,
-			0.0,   0.0,   0.0,  1.1,    0.0,   0.0,   0.0,   0.0,   0.0,  0.0,
-			0.0,   .02,    0.0,   0.0,  2.6,    0.0,  .16,   .09,   .52,   .53,
-			0.0,   0.0,   0.0,   0.0,   0.0,  1.2,    0.0,   0.0,   0.0,  0.0,
-			0.0,   0.0,   0.0,   0.0,  .16,    0.0,  1.3,    0.0,   0.0,  .56,
-			0.0,   0.0,   0.0,   0.0,  .09,    0.0,   0.0,  1.6,   .11,   0.0,
-			.13,    0.0,   0.0,   0.0,  .52,    0.0,   0.0,  .11,   1.4,   0.0,
-			0.0,    .01,    0.0,   0.0,  .53,    0.0,  .56,    0.0,   0.0,  3.1);
-
-	Vector b = Vector_(10, .287, .22, .45, .44, 2.486, .72, 1.55, 1.424, 1.621, 3.759);
-
-	// perform LDL solving
-	Vector actual = solve_ldl(A, b);
-
-	// check solution
-    Vector expected = Vector_(10, .1, .2, .3, .4, .5, .6, .7, .8, .9, 1.0);
-
-    CHECK(assert_equal(expected, actual));
-
-}
-#endif
-
 /* ************************************************************************* */
 TEST( matrix, linear_dependent )
 {

nonlinear/NonlinearOptimizer.cpp

@@ -11,7 +11,7 @@
 
 /**
  * NonlinearOptimizer.cpp
- * @brief: Dummy c++ file to have *something* in lin-nonlinear if USE_LDL not defined.
+ * @brief: Dummy c++ file to have *something* in lin-nonlinear .
  * @Author: Frank Dellaert
  * Created on: Jul 17, 2010
  */