diff --git a/gtsam.h b/gtsam.h
index 18c8921cb..3fed4da7f 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -535,158 +535,3 @@ class Graph {
 // TODO: add factors, etc.
 
 }///\namespace simulated2DOriented
-
-
-//// These are considered to be broken and will be added back as they start working
-//// It's assumed that there have been interface changes that might break this
-//
-//class Ordering{
-//	Ordering(string key);
-//  void print(string s) const;
-//  bool equals(const Ordering& ord, double tol) const;
-//	Ordering subtract(const Ordering& keys) const;
-//	void unique ();
-//	void reverse ();
-//  void push_back(string s);
-//};
-//
-//class GaussianFactorSet {
-//  GaussianFactorSet();
-//  void push_back(GaussianFactor* factor);
-//};
-//
-//class Simulated2DPosePrior {
-//	Simulated2DPosePrior(Point2& mu, const SharedDiagonal& model, int i);
-//  void print(string s) const;
-//  double error(const Simulated2DValues& c) const;
-//};
-//
-//class Simulated2DOrientedPosePrior {
-//	Simulated2DOrientedPosePrior(Pose2& mu, const SharedDiagonal& model, int i);
-//  void print(string s) const;
-//  double error(const Simulated2DOrientedValues& c) const;
-//};
-//
-//class Simulated2DPointPrior {
-//	Simulated2DPointPrior(Point2& mu, const SharedDiagonal& model, int i);
-//  void print(string s) const;
-//  double error(const Simulated2DValues& c) const;
-//};
-//
-//class Simulated2DOdometry {
-//  Simulated2DOdometry(Point2& mu, const SharedDiagonal& model, int i1, int i2);
-//  void print(string s) const;
-//  double error(const Simulated2DValues& c) const;
-//};
-//
-//class Simulated2DOrientedOdometry {
-//	Simulated2DOrientedOdometry(Pose2& mu, const SharedDiagonal& model, int i1, int i2);
-//  void print(string s) const;
-//  double error(const Simulated2DOrientedValues& c) const;
-//};
-//
-//class Simulated2DMeasurement {
-//  Simulated2DMeasurement(Point2& mu, const SharedDiagonal& model, int i, int j);
-//  void print(string s) const;
-//  double error(const Simulated2DValues& c) const;
-//};
-//
-//class GaussianFactor {
-//	GaussianFactor(string key1,
-//			Matrix A1,
-//			Vector b_in,
-//			const SharedDiagonal& model);
-//	GaussianFactor(string key1,
-//			Matrix A1,
-//			string key2,
-//			Matrix A2,
-//			Vector b_in,
-//			const SharedDiagonal& model);
-//	GaussianFactor(string key1,
-//			Matrix A1,
-//			string key2,
-//			Matrix A2,
-//			string key3,
-//			Matrix A3,
-//			Vector b_in,
-//			const SharedDiagonal& model);
-//	bool involves(string key) const;
-//	Matrix getA(string key) const;
-//	pair<Matrix,Vector> matrix(const Ordering& ordering) const;
-//	pair<GaussianConditional*,GaussianFactor*> eliminate(string key) const;
-//};
-//
-//class GaussianFactorGraph {
-//	GaussianConditional* eliminateOne(string key);
-//	GaussianBayesNet* eliminate_(const Ordering& ordering);
-//	VectorValues* optimize_(const Ordering& ordering);
-//	pair<Matrix,Vector> matrix(const Ordering& ordering) const;
-//	VectorValues* steepestDescent_(const VectorValues& x0) const;
-//	VectorValues* conjugateGradientDescent_(const VectorValues& x0) const;
-//};
-//
-//class gtsam::Pose2Values{
-//	Pose2Values();
-//	Pose2 get(string key) const;
-//	void insert(string name, const gtsam::Pose2& val);
-//	void print(string s) const;
-//	void clear();
-//	int size();
-//};
-//
-//class gtsam::Pose2Factor {
-//	Pose2Factor(string key1, string key2,
-//			const gtsam::Pose2& measured, Matrix measurement_covariance);
-//	void print(string name) const;
-//	double error(const gtsam::Pose2Values& c) const;
-//	size_t size() const;
-//	GaussianFactor* linearize(const gtsam::Pose2Values& config) const;
-//};
-//
-//class gtsam::pose2SLAM::Graph{
-//	pose2SLAM::Graph();
-//	void print(string s) const;
-//	GaussianFactorGraph* linearize_(const gtsam::Pose2Values& config) const;
-//	void push_back(Pose2Factor* factor);
-//};
-//
-//class SymbolicFactor{
-//	SymbolicFactor(const Ordering& keys);
-//	void print(string s) const;
-//};
-//
-//class Simulated2DPosePrior {
-//	GaussianFactor* linearize(const Simulated2DValues& config) const;
-//};
-//
-//class Simulated2DOrientedPosePrior {
-//	GaussianFactor* linearize(const Simulated2DOrientedValues& config) const;
-//};
-//
-//class Simulated2DPointPrior {
-//	GaussianFactor* linearize(const Simulated2DValues& config) const;
-//};
-//
-//class Simulated2DOdometry {
-//	GaussianFactor* linearize(const Simulated2DValues& config) const;
-//};
-//
-//class Simulated2DOrientedOdometry {
-//	GaussianFactor* linearize(const Simulated2DOrientedValues& config) const;
-//};
-//
-//class Simulated2DMeasurement {
-//	GaussianFactor* linearize(const Simulated2DValues& config) const;
-//};
-//
-//class gtsam::Pose2SLAMOptimizer {
-//	Pose2SLAMOptimizer(string dataset_name);
-//	void print(string s) const;
-//	void update(Vector x) const;
-//	Vector optimize() const;
-//	double error() const;
-//	Matrix a1() const;
-//	Matrix a2() const;
-//	Vector b1() const;
-//	Vector b2() const;
-//};