remove ComputeLogNormalizer function

gtsam/hybrid/GaussianMixtureFactor.cpp

@@ -120,20 +120,4 @@ double GaussianMixtureFactor::error(const HybridValues &values) const {
   return gf->error(values.continuous());
 }
 
-/* *******************************************************************************/
-double ComputeLogNormalizer(
-    const noiseModel::Gaussian::shared_ptr &noise_model) {
-  // Since noise models are Gaussian, we can get the logDeterminant using
-  // the same trick as in GaussianConditional
-  double logDetR = noise_model->R()
-                       .diagonal()
-                       .unaryExpr([](double x) { return log(x); })
-                       .sum();
-  double logDeterminantSigma = -2.0 * logDetR;
-
-  size_t n = noise_model->dim();
-  constexpr double log2pi = 1.8378770664093454835606594728112;
-  return n * log2pi + logDeterminantSigma;
-}
-
 }  // namespace gtsam

gtsam/hybrid/GaussianMixtureFactor.h

@@ -171,16 +171,4 @@ template <>
 struct traits<GaussianMixtureFactor> : public Testable<GaussianMixtureFactor> {
 };
 
-/**
- * @brief Helper function to compute the sqrt(|2πΣ|) normalizer values
- * for a Gaussian noise model.
- * We compute this in the log-space for numerical accuracy.
- *
- * @param noise_model The Gaussian noise model
- * whose normalizer we wish to compute.
- * @return double
- */
-GTSAM_EXPORT double ComputeLogNormalizer(
-    const noiseModel::Gaussian::shared_ptr &noise_model);
-
 }  // namespace gtsam