Deprecated some more methods

gtsam.h

@@ -127,13 +127,13 @@ namespace std {
         void pop_back();*/
     };
     //typedef std::vector
-  
+
     #include<list>
     template<T>
     class list
     {
-    
+
-    
+
     };
 
 }
@@ -360,17 +360,6 @@ class Point3 {
 
   // Group
   static gtsam::Point3 identity();
-  gtsam::Point3 inverse() const;
-  gtsam::Point3 compose(const gtsam::Point3& p2) const;
-  gtsam::Point3 between(const gtsam::Point3& p2) const;
-
-  // Manifold
-  gtsam::Point3 retract(Vector v) const;
-  Vector localCoordinates(const gtsam::Point3& p) const;
-
-  // Lie Group
-  static gtsam::Point3 Expmap(Vector v);
-  static Vector Logmap(const gtsam::Point3& p);
 
   // Standard Interface
   Vector vector() const;
@@ -1069,7 +1058,7 @@ class SymbolicBayesTree {
     void clear();
     void deleteCachedShortcuts();
     size_t numCachedSeparatorMarginals() const;
-  
+
   gtsam::SymbolicConditional* marginalFactor(size_t key) const;
   gtsam::SymbolicFactorGraph* joint(size_t key1, size_t key2) const;
   gtsam::SymbolicBayesNet* jointBayesNet(size_t key1, size_t key2) const;
@@ -1079,19 +1068,19 @@ class SymbolicBayesTree {
 //   BayesTreeClique();
 //   BayesTreeClique(CONDITIONAL* conditional);
 // //  BayesTreeClique(const std::pair<typename ConditionalType::shared_ptr, typename ConditionalType::FactorType::shared_ptr>& result) : Base(result) {}
-// 
+//
 //   bool equals(const This& other, double tol) const;
 //   void print(string s) const;
 //   void printTree() const; // Default indent of ""
 //   void printTree(string indent) const;
 //   size_t numCachedSeparatorMarginals() const;
-// 
+//
 //   CONDITIONAL* conditional() const;
 //   bool isRoot() const;
 //   size_t treeSize() const;
 // //  const std::list<derived_ptr>& children() const { return children_; }
 // //  derived_ptr parent() const { return parent_.lock(); }
-// 
+//
 //   // FIXME: need wrapped versions graphs, BayesNet
 // //  BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
 // //  FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
@@ -1345,7 +1334,7 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
 
   void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
   gtsam::JacobianFactor whiten() const;
-  
+
   pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const;
 
   void setModel(bool anyConstrained, const Vector& sigmas);
@@ -1422,7 +1411,7 @@ class GaussianFactorGraph {
   gtsam::GaussianFactorGraph clone() const;
   gtsam::GaussianFactorGraph negate() const;
 
-  // Optimizing and linear algebra  
+  // Optimizing and linear algebra
   gtsam::VectorValues optimize() const;
   gtsam::VectorValues optimize(const gtsam::Ordering& ordering) const;
   gtsam::VectorValues optimizeGradientSearch() const;
@@ -1511,7 +1500,7 @@ virtual class GaussianBayesNet {
     //Constructors
   GaussianBayesNet();
   GaussianBayesNet(const gtsam::GaussianConditional* conditional);
-  
+
   // Testable
   void print(string s) const;
   bool equals(const gtsam::GaussianBayesNet& other, double tol) const;
@@ -1527,7 +1516,7 @@ virtual class GaussianBayesNet {
   gtsam::GaussianConditional* back() const;
   void push_back(gtsam::GaussianConditional* conditional);
   void push_back(const gtsam::GaussianBayesNet& bayesNet);
-  
+
   gtsam::VectorValues optimize() const;
   gtsam::VectorValues optimize(gtsam::VectorValues& solutionForMissing) const;
   gtsam::VectorValues optimizeGradientSearch() const;
@@ -1551,7 +1540,7 @@ virtual class GaussianBayesTree {
   bool empty() const;
   size_t numCachedSeparatorMarginals() const;
   void saveGraph(string s) const;
-  
+
   gtsam::VectorValues optimize() const;
   gtsam::VectorValues optimizeGradientSearch() const;
   gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const;
@@ -1833,7 +1822,7 @@ class Values {
 
   /// Fixed size versions, for n in 1..9
   Vector atFixed(size_t j, size_t n);
-  
+
   /// version for double
   void insertDouble(size_t j, double c);
   double atDouble(size_t j) const;
@@ -2004,7 +1993,7 @@ virtual class NonlinearOptimizerParams {
   void setVerbosity(string s);
 
   string getLinearSolverType() const;
-  
+
   void setLinearSolverType(string solver);
   void setOrdering(const gtsam::Ordering& ordering);
   void setIterativeParams(gtsam::IterativeOptimizationParameters* params);

gtsam/geometry/Point3.cpp

@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * 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)
@@ -75,6 +75,7 @@ double Point3::distance(const Point3 &p2, OptionalJacobian<1, 3> H1,
 }
 
 /* ************************************************************************* */
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
 Point3 Point3::add(const Point3 &q, OptionalJacobian<3,3> H1,
     OptionalJacobian<3,3> H2) const {
   if (H1) *H1 = I_3x3;
@@ -82,13 +83,13 @@ Point3 Point3::add(const Point3 &q, OptionalJacobian<3,3> H1,
   return *this + q;
 }
 
-/* ************************************************************************* */
 Point3 Point3::sub(const Point3 &q, OptionalJacobian<3,3> H1,
     OptionalJacobian<3,3> H2) const {
   if (H1) *H1 = I_3x3;
   if (H2) *H2 = I_3x3;
   return *this - q;
 }
+#endif
 
 /* ************************************************************************* */
 Point3 Point3::cross(const Point3 &q, OptionalJacobian<3, 3> H_p, OptionalJacobian<3, 3> H_q) const {

gtsam/geometry/Point3.h

@@ -107,11 +107,6 @@ namespace gtsam {
     double distance(const Point3& p2, OptionalJacobian<1, 3> H1 = boost::none,
                     OptionalJacobian<1, 3> H2 = boost::none) const;
 
-    /** @deprecated The following function has been deprecated, use distance above */
-    inline double dist(const Point3& p2) const {
-      return (p2 - *this).norm();
-    }
-
     /** Distance of the point from the origin, with Jacobian */
     double norm(OptionalJacobian<1,3> H = boost::none) const;
 
@@ -145,14 +140,6 @@ namespace gtsam {
     /// get z
     inline double z() const {return z_;}
 
-    /** add two points, add(this,q) is same as this + q */
-    Point3 add (const Point3 &q,
-          OptionalJacobian<3, 3> H1=boost::none, OptionalJacobian<3, 3> H2=boost::none) const;
-
-    /** subtract two points, sub(this,q) is same as this - q */
-    Point3 sub (const Point3 &q,
-          OptionalJacobian<3,3> H1=boost::none, OptionalJacobian<3,3> H2=boost::none) const;
-
     /// @}
 
     /// Output stream operator
@@ -168,7 +155,12 @@ namespace gtsam {
     Point3 retract(const Vector3& v) const { return compose(Point3(v));}
     static Vector3 Logmap(const Point3& p) { return p.vector();}
     static Point3 Expmap(const Vector3& v) { return Point3(v);}
-    /// @}
+    inline double dist(const Point3& p2) const { return (p2 - *this).norm(); }
+    Point3 add(const Point3& q, OptionalJacobian<3, 3> H1 = boost::none,
+               OptionalJacobian<3, 3> H2 = boost::none) const;
+    Point3 sub(const Point3& q, OptionalJacobian<3, 3> H1 = boost::none,
+               OptionalJacobian<3, 3> H2 = boost::none) const;
+  /// @}
 #endif
 
   private:

gtsampy.h

@@ -127,13 +127,13 @@ namespace std {
         void pop_back();*/
     };
     //typedef std::vector
-  
+
     #include<list>
     template<T>
     class list
     {
-    
+
-    
+
     };
 
 }
@@ -360,17 +360,6 @@ class Point3 {
 
   // Group
   static gtsam::Point3 identity();
-  gtsam::Point3 inverse() const;
-  gtsam::Point3 compose(const gtsam::Point3& p2) const;
-  gtsam::Point3 between(const gtsam::Point3& p2) const;
-
-  // Manifold
-  gtsam::Point3 retract(Vector v) const;
-  Vector localCoordinates(const gtsam::Point3& p) const;
-
-  // Lie Group
-  static gtsam::Point3 Expmap(Vector v);
-  static Vector Logmap(const gtsam::Point3& p);
 
   // Standard Interface
   Vector vector() const;
@@ -1069,7 +1058,7 @@ class SymbolicBayesTree {
     void clear();
     void deleteCachedShortcuts();
     size_t numCachedSeparatorMarginals() const;
-  
+
   gtsam::SymbolicConditional* marginalFactor(size_t key) const;
   gtsam::SymbolicFactorGraph* joint(size_t key1, size_t key2) const;
   gtsam::SymbolicBayesNet* jointBayesNet(size_t key1, size_t key2) const;
@@ -1079,19 +1068,19 @@ class SymbolicBayesTree {
 //   BayesTreeClique();
 //   BayesTreeClique(CONDITIONAL* conditional);
 // //  BayesTreeClique(const std::pair<typename ConditionalType::shared_ptr, typename ConditionalType::FactorType::shared_ptr>& result) : Base(result) {}
-// 
+//
 //   bool equals(const This& other, double tol) const;
 //   void print(string s) const;
 //   void printTree() const; // Default indent of ""
 //   void printTree(string indent) const;
 //   size_t numCachedSeparatorMarginals() const;
-// 
+//
 //   CONDITIONAL* conditional() const;
 //   bool isRoot() const;
 //   size_t treeSize() const;
 // //  const std::list<derived_ptr>& children() const { return children_; }
 // //  derived_ptr parent() const { return parent_.lock(); }
-// 
+//
 //   // FIXME: need wrapped versions graphs, BayesNet
 // //  BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
 // //  FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
@@ -1345,7 +1334,7 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
 
   void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
   gtsam::JacobianFactor whiten() const;
-  
+
   pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const;
 
   void setModel(bool anyConstrained, const Vector& sigmas);
@@ -1422,7 +1411,7 @@ class GaussianFactorGraph {
   gtsam::GaussianFactorGraph clone() const;
   gtsam::GaussianFactorGraph negate() const;
 
-  // Optimizing and linear algebra  
+  // Optimizing and linear algebra
   gtsam::VectorValues optimize() const;
   gtsam::VectorValues optimize(const gtsam::Ordering& ordering) const;
   gtsam::VectorValues optimizeGradientSearch() const;
@@ -1511,7 +1500,7 @@ virtual class GaussianBayesNet {
     //Constructors
   GaussianBayesNet();
   GaussianBayesNet(const gtsam::GaussianConditional* conditional);
-  
+
   // Testable
   void print(string s) const;
   bool equals(const gtsam::GaussianBayesNet& other, double tol) const;
@@ -1527,7 +1516,7 @@ virtual class GaussianBayesNet {
   gtsam::GaussianConditional* back() const;
   void push_back(gtsam::GaussianConditional* conditional);
   void push_back(const gtsam::GaussianBayesNet& bayesNet);
-  
+
   gtsam::VectorValues optimize() const;
   gtsam::VectorValues optimize(gtsam::VectorValues& solutionForMissing) const;
   gtsam::VectorValues optimizeGradientSearch() const;
@@ -1551,7 +1540,7 @@ virtual class GaussianBayesTree {
   bool empty() const;
   size_t numCachedSeparatorMarginals() const;
   void saveGraph(string s) const;
-  
+
   gtsam::VectorValues optimize() const;
   gtsam::VectorValues optimizeGradientSearch() const;
   gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const;
@@ -1833,7 +1822,7 @@ class Values {
 
   /// Fixed size versions, for n in 1..9
   Vector atFixed(size_t j, size_t n);
-  
+
   /// version for double
   void insertDouble(size_t j, double c);
   double atDouble(size_t j) const;
@@ -2004,7 +1993,7 @@ virtual class NonlinearOptimizerParams {
   void setVerbosity(string s);
 
   string getLinearSolverType() const;
-  
+
   void setLinearSolverType(string solver);
   void setOrdering(const gtsam::Ordering& ordering);
   void setIterativeParams(gtsam::IterativeOptimizationParameters* params);

python/handwritten/geometry/Point3.cpp

@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * 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)
@@ -36,16 +36,13 @@ class_<Point3>("Point3")
   .def(init<const Vector3 &>())
   .def("identity", &Point3::identity)
   .staticmethod("identity")
-  .def("add", &Point3::add)
   .def("cross", &Point3::cross)
-  .def("dist", &Point3::dist)
   .def("distance", &Point3::distance)
   .def("dot", &Point3::dot)
   .def("equals", &Point3::equals, equals_overloads(args("q","tol")))
   .def("norm", &Point3::norm)
   .def("normalize", &Point3::normalize)
   .def("print", &Point3::print, print_overloads(args("s")))
-  .def("sub", &Point3::sub)
   .def("vector", &Point3::vector)
   .def("x", &Point3::x)
   .def("y", &Point3::y)
@@ -61,4 +58,4 @@ class_<Point3>("Point3")
   .def(self == self)
 ;
 
-}
+}