From 5ddd28ba188cdc0ba39548ce78085b10dcab537f Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 22 Aug 2012 22:40:20 +0000
Subject: [PATCH] Removed unused noise model cholesky

---
 gtsam/linear/NoiseModel.cpp           | 23 -----------------------
 gtsam/linear/NoiseModel.h             |  6 ------
 gtsam/linear/tests/testNoiseModel.cpp | 12 ------------
 3 files changed, 41 deletions(-)

diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index db6fa096d..e493bddde 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -133,29 +133,6 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const {
 	return Unit::Create(maxRank);
 }
 
-/* ************************************************************************* */
-SharedDiagonal Gaussian::Cholesky(Matrix& Ab, size_t nFrontals) const {
-  // get size(A) and maxRank
-  // TODO: really no rank problems ?
-
-  // pre-whiten everything (cheaply if possible)
-  WhitenInPlace(Ab);
-
-  // Form A'*A (todo: this is probably less efficient than possible)
-  Ab = Ab.transpose() * Ab;
-
-  // Use Cholesky to factor Ab
-  size_t maxrank = choleskyCareful(Ab).first;
-
-  // Due to numerical error the rank could appear to be more than the number
-  // of variables.  The important part is that it does not includes the
-  // augmented b column.
-  if(maxrank == (size_t) Ab.cols())
-    -- maxrank;
-
-  return Unit::Create(maxrank);
-}
-
 void Gaussian::WhitenSystem(vector<Matrix>& A, Vector& b) const {
   BOOST_FOREACH(Matrix& Aj, A) { WhitenInPlace(Aj); }
   whitenInPlace(b);
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 36fe3cd26..2bb63c382 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -202,12 +202,6 @@ namespace gtsam {
 			 */
 			virtual boost::shared_ptr<Diagonal> QR(Matrix& Ab) const;
 
-			/**
-			 * Cholesky factorization
-			 * FIXME: this is never used anywhere
-			 */
-			virtual boost::shared_ptr<Diagonal> Cholesky(Matrix& Ab, size_t nFrontals) const;
-
 			/**
 			 * Return R itself, but note that Whiten(H) is cheaper than R*H
 			 */
diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp
index 9b53a3be1..224395051 100644
--- a/gtsam/linear/tests/testNoiseModel.cpp
+++ b/gtsam/linear/tests/testNoiseModel.cpp
@@ -247,18 +247,6 @@ TEST( NoiseModel, QR )
 	EXPECT(linear_dependent(expectedRd2,Ab2,1e-6)); // Ab was modified in place !!!
 }
 
-/* ************************************************************************* */
-TEST(NoiseModel, Cholesky)
-{
-  SharedDiagonal expected = noiseModel::Unit::Create(4);
-  Matrix Ab = exampleQR::Ab; // otherwise overwritten !
-  SharedDiagonal actual = exampleQR::diagonal->Cholesky(Ab, 4);
-  EXPECT(assert_equal(*expected,*actual));
-  // Ab was modified in place !!!
-  Matrix actualRd = Ab.block(0, 0, actual->dim(), Ab.cols()).triangularView<Eigen::Upper>();
-  EXPECT(linear_dependent(exampleQR::Rd,actualRd,1e-4));
-}
-
 /* ************************************************************************* */
 TEST(NoiseModel, QRNan )
 {