From 43e3f865e9c9bd2f090f07188f751e8746f6272e Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Mon, 5 Sep 2011 14:26:03 +0000
Subject: [PATCH] Removing extraneous commented code from ISAM

---
 gtsam/inference/BayesTree-inl.h |  1 -
 gtsam/inference/ISAM-inl.h      | 14 +-------------
 gtsam/inference/ISAM.h          |  3 ---
 3 files changed, 1 insertion(+), 17 deletions(-)

diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h
index be7ad1a1f..fce5c3e19 100644
--- a/gtsam/inference/BayesTree-inl.h
+++ b/gtsam/inference/BayesTree-inl.h
@@ -434,7 +434,6 @@ namespace gtsam {
 	  newKeys[0] = key;
 	  std::copy((*clique)->begin(), (*clique)->end(), newKeys.begin()+1);
 	  clique->conditional_ = CONDITIONAL::FromKeys(newKeys, (*clique)->nrFrontals() + 1);
-//	  clique->conditional_->addFrontal(conditional);
 	  if(debug) clique->print("Expanded clique is ");
 	  clique->assertInvariants();
 	}
diff --git a/gtsam/inference/ISAM-inl.h b/gtsam/inference/ISAM-inl.h
index c77ad96fc..8fdad31b2 100644
--- a/gtsam/inference/ISAM-inl.h
+++ b/gtsam/inference/ISAM-inl.h
@@ -30,15 +30,10 @@ namespace gtsam {
 
   using namespace std;
 
-  /** Create an empty Bayes Tree */
+  /* ************************************************************************* */
   template<class CONDITIONAL>
   ISAM<CONDITIONAL>::ISAM() : BayesTree<CONDITIONAL>() {}
 
-  /** Create a Bayes Tree from a Bayes Net */
-//  template<class CONDITIONAL>
-//  ISAM<CONDITIONAL>::ISAM(const BayesNet<CONDITIONAL>& bayesNet) :
-//    BayesTree<CONDITIONAL>(bayesNet) {}
-
   /* ************************************************************************* */
   template<class CONDITIONAL>
 	template<class FG> void ISAM<CONDITIONAL>::update_internal(
@@ -53,13 +48,6 @@ namespace gtsam {
     factors.push_back(newFactors);
 
     // eliminate into a Bayes net
-//    GenericSequentialSolver<typename CONDITIONAL::FactorType> solver(factors);
-//    typename BayesNet<CONDITIONAL>::shared_ptr bayesNet = solver.eliminate(function);
-//
-//    // insert conditionals back in, straight into the topless bayesTree
-//    typename BayesNet<CONDITIONAL>::const_reverse_iterator rit;
-//    for ( rit=bayesNet->rbegin(); rit != bayesNet->rend(); ++rit )
-//      BayesTree<CONDITIONAL>::insert(*this,*rit);
     GenericMultifrontalSolver<typename CONDITIONAL::FactorType, JunctionTree<FG> > solver(factors);
     boost::shared_ptr<BayesTree<CONDITIONAL> > bayesTree;
     bayesTree = solver.eliminate(function);
diff --git a/gtsam/inference/ISAM.h b/gtsam/inference/ISAM.h
index 78307c177..052f85615 100644
--- a/gtsam/inference/ISAM.h
+++ b/gtsam/inference/ISAM.h
@@ -38,9 +38,6 @@ namespace gtsam {
 		/** Create an empty Bayes Tree */
 		ISAM();
 
-		/** Create a Bayes Tree from a Bayes Net */
-		ISAM(const BayesNet<CONDITIONAL>& bayesNet);
-
 		/** Copy constructor */
 		ISAM(const Base& bayesTree) :
 				Base(bayesTree) {