From 403dcd6a0017bec32a2d71fbeb1a781c77e8c9f1 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 26 Oct 2010 20:26:02 +0000
Subject: [PATCH] Moved unused simulated2DConstraints to experimental

---
 gtsam/slam/simulated2DConstraints.h | 134 ----------------------------
 1 file changed, 134 deletions(-)
 delete mode 100644 gtsam/slam/simulated2DConstraints.h

diff --git a/gtsam/slam/simulated2DConstraints.h b/gtsam/slam/simulated2DConstraints.h
deleted file mode 100644
index 6dd05f14e..000000000
--- a/gtsam/slam/simulated2DConstraints.h
+++ /dev/null
@@ -1,134 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file    simulated2DConstraints.h
- * @brief   measurement functions and constraint definitions for simulated 2D robot
- * @author  Alex Cunningham
- */
-
-// \callgraph
-
-#pragma once
-
-#include <gtsam/base/numericalDerivative.h>
-
-#include <gtsam/nonlinear/NonlinearConstraint.h>
-#include <gtsam/slam/BetweenConstraint.h>
-#include <gtsam/slam/BoundingConstraint.h>
-#include <gtsam/slam/simulated2D.h>
-
-// \namespace
-
-namespace gtsam {
-
-	namespace simulated2D {
-
-		namespace equality_constraints {
-
-			/** Typedefs for regular use */
-			typedef NonlinearEquality1<Values, PoseKey> UnaryEqualityConstraint;
-			typedef NonlinearEquality1<Values, PointKey> UnaryEqualityPointConstraint;
-			typedef BetweenConstraint<Values, PoseKey> OdoEqualityConstraint;
-
-			/** Equality between variables */
-			typedef NonlinearEquality2<Values, PoseKey> PoseEqualityConstraint;
-			typedef NonlinearEquality2<Values, PointKey> PointEqualityConstraint;
-
-		} // \namespace equality_constraints
-
-		namespace inequality_constraints {
-
-			/**
-			 * Unary inequality constraint forcing a coordinate to be greater/less than a fixed value (c)
-			 * Demo implementation: should be made more general using BoundingConstraint
-			 */
-			template<class Cfg, class Key, unsigned int Idx>
-			struct ScalarCoordConstraint1: public BoundingConstraint1<Cfg, Key> {
-				typedef BoundingConstraint1<Cfg, Key> Base;
-				typedef boost::shared_ptr<ScalarCoordConstraint1<Cfg, Key, Idx> > shared_ptr;
-
-				ScalarCoordConstraint1(const Key& key, double c,
-						bool isGreaterThan, double mu = 1000.0) :
-					Base(key, c, isGreaterThan, mu) {
-				}
-
-				inline unsigned int index() const { return Idx; }
-
-				/** extracts a single value from the point */
-				virtual double value(const Point2& x, boost::optional<Matrix&> H =
-						boost::none) const {
-					if (H) {
-						Matrix D = zeros(1, 2);
-						D(0, Idx) = 1.0;
-						*H = D;
-					}
-					return x.vector()(Idx);
-				}
-			};
-
-			/** typedefs for use with simulated2D systems */
-			typedef ScalarCoordConstraint1<Values, PoseKey, 0> PoseXInequality;
-			typedef ScalarCoordConstraint1<Values, PoseKey, 1> PoseYInequality;
-
-			double range(const Point2& a, const Point2& b) { return a.dist(b); }
-
-			/**
-			 * Binary inequality constraint forcing the range between points
-			 * to be less than or equal to a bound
-			 */
-			template<class Cfg, class Key>
-			struct MaxDistanceConstraint : public BoundingConstraint2<Cfg, Key, Key> {
-				typedef BoundingConstraint2<Cfg, Key, Key> Base;
-
-				MaxDistanceConstraint(const Key& key1, const Key& key2, double range_bound, double mu = 1000.0)
-					: Base(key1, key2, range_bound, false, mu) {}
-
-				/** extracts a single scalar value with derivatives */
-				virtual double value(const Point2& x1, const Point2& x2,
-						boost::optional<Matrix&> H1 = boost::none,
-						boost::optional<Matrix&> H2 = boost::none) const {
-					if (H1) *H1 = numericalDerivative21(range, x1, x2, 1e-5);
-					if (H1) *H2 = numericalDerivative22(range, x1, x2, 1e-5);
-					return x1.dist(x2);
-				}
-			};
-
-			typedef MaxDistanceConstraint<Values, PoseKey> PoseMaxDistConstraint;
-
-			/**
-			 * Binary inequality constraint forcing a minimum range
-			 * NOTE: this is not a convex function!  Be careful with initialization.
-			 */
-			template<class Cfg, class XKey, class PKey>
-			struct MinDistanceConstraint : public BoundingConstraint2<Cfg, XKey, PKey> {
-				typedef BoundingConstraint2<Cfg, XKey, PKey> Base;
-
-				MinDistanceConstraint(const XKey& key1, const PKey& key2, double range_bound, double mu = 1000.0)
-					: Base(key1, key2, range_bound, true, mu) {}
-
-				/** extracts a single scalar value with derivatives */
-				virtual double value(const Point2& x1, const Point2& x2,
-						boost::optional<Matrix&> H1 = boost::none,
-						boost::optional<Matrix&> H2 = boost::none) const {
-					if (H1) *H1 = numericalDerivative21(range, x1, x2, 1e-5);
-					if (H1) *H2 = numericalDerivative22(range, x1, x2, 1e-5);
-					return x1.dist(x2);
-				}
-			};
-
-			typedef MinDistanceConstraint<Values, PoseKey, PointKey> LandmarkAvoid;
-
-
-		} // \namespace inequality_constraints
-
-	} // \namespace simulated2D
-} // \namespace gtsam