From 65aaf47a1cae1b341aae07fd8220a37ed2beaeab Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 3 Jan 2023 15:21:44 -0500
Subject: [PATCH] Remove obsolete test

---
 tests/testNonlinearFactorGraph.cpp | 77 ------------------------------
 1 file changed, 77 deletions(-)

diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp
index f8d0b5fdc..c9b42ff9a 100644
--- a/tests/testNonlinearFactorGraph.cpp
+++ b/tests/testNonlinearFactorGraph.cpp
@@ -389,83 +389,6 @@ TEST(NonlinearFactorGraph, dot_extra) {
   EXPECT(ss.str() == expected);
 }
 
-/* ************************************************************************* */
-template <class VALUE>
-class MyPrior : public gtsam::NoiseModelFactorN<VALUE> {
- private:
-  VALUE prior_;
-
- public:
-  MyPrior(gtsam::Key key, const VALUE &prior,
-          const gtsam::SharedNoiseModel &model)
-      : gtsam::NoiseModelFactorN<VALUE>(model, key), prior_(prior) {}
-
-  gtsam::Vector evaluateError(
-      const VALUE &val,
-      boost::optional<gtsam::Matrix &> H = boost::none) const override {
-    if (H)
-      (*H) = gtsam::Matrix::Identity(gtsam::traits<VALUE>::GetDimension(val),
-                                     gtsam::traits<VALUE>::GetDimension(val));
-    // manifold equivalent of z-x -> Local(x,z)
-    return -gtsam::traits<VALUE>::Local(val, prior_);
-  }
-
-  virtual gtsam::NonlinearFactor::shared_ptr clone() const override {
-    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
-        gtsam::NonlinearFactor::shared_ptr(new MyPrior<VALUE>(*this)));
-  }
-};
-
-template <class VALUE>
-class MyPriorPrint : public gtsam::NoiseModelFactorN<VALUE> {
- private:
-  VALUE prior_;
-
- public:
-  MyPriorPrint(gtsam::Key key, const VALUE &prior,
-               const gtsam::SharedNoiseModel &model)
-      : gtsam::NoiseModelFactorN<VALUE>(model, key), prior_(prior) {}
-
-  gtsam::Vector evaluateError(
-      const VALUE &val,
-      boost::optional<gtsam::Matrix &> H = boost::none) const override {
-    if (H)
-      (*H) = gtsam::Matrix::Identity(gtsam::traits<VALUE>::GetDimension(val),
-                                     gtsam::traits<VALUE>::GetDimension(val));
-    // manifold equivalent of z-x -> Local(x,z)
-    auto error = -gtsam::traits<VALUE>::Local(val, prior_);
-    val.print();
-    prior_.print();
-    return error;
-  }
-
-  virtual gtsam::NonlinearFactor::shared_ptr clone() const override {
-    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
-        gtsam::NonlinearFactor::shared_ptr(new MyPriorPrint<VALUE>(*this)));
-  }
-};
-
-TEST(NonlinearFactorGraph, NoPrintSideEffects) {
-  NonlinearFactorGraph fg;
-  Values vals;
-  const auto model = noiseModel::Unit::Create(3);
-  fg.emplace_shared<MyPrior<Pose2>>(0, Pose2(0, 0, 0), model);
-  vals.insert(0, Pose2(1, 1, 1));
-
-  NonlinearFactorGraph fg_print;
-  Values vals_print;
-  fg_print.emplace_shared<MyPriorPrint<Pose2>>(0, Pose2(0, 0, 0), model);
-  vals_print.insert(0, Pose2(1, 1, 1));
-
-  std::cout << "Without Prints:" << std::endl;
-  GaussNewtonOptimizer optimizer(fg, vals);
-  optimizer.optimize().print();
-
-  std::cout << "With Prints:" << std::endl;
-  GaussNewtonOptimizer optimizer_print(fg_print, vals_print);
-  optimizer_print.optimize().print();
-}
-
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */