From 921cb0a8fc3e850153ffe8af4f4001040eee7ea0 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 31 Oct 2009 17:13:36 +0000
Subject: [PATCH] Got rid of (defunct) "dump" methods

---
 cpp/Cal3_S2.h            |  7 -------
 cpp/Factor.h             |  2 --
 cpp/LinearConstraint.cpp |  5 -----
 cpp/LinearConstraint.h   |  4 ----
 cpp/LinearFactor.h       |  1 -
 cpp/NonlinearFactor.h    |  7 -------
 cpp/VSLAMFactor.cpp      | 18 ------------------
 cpp/VSLAMFactor.h        |  5 -----
 cpp/Vector.cpp           | 12 ------------
 cpp/Vector.h             |  5 -----
 10 files changed, 66 deletions(-)

diff --git a/cpp/Cal3_S2.h b/cpp/Cal3_S2.h
index bc4143dcb..956a90eb0 100644
--- a/cpp/Cal3_S2.h
+++ b/cpp/Cal3_S2.h
@@ -91,13 +91,6 @@ namespace gtsam {
 			return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_);
 		}
 
-		std::string dump() const {
-			char buffer[100];
-			buffer[0] = 0;
-			sprintf(buffer, "%f %f %f %f %f", fx_, fy_, s_, u0_, v0_);
-			return std::string(buffer);
-		}
-
 		/** friends */
 		friend Matrix Duncalibrate2(const Cal3_S2& K, const Point2& p);
 
diff --git a/cpp/Factor.h b/cpp/Factor.h
index b99553641..1c3066246 100644
--- a/cpp/Factor.h
+++ b/cpp/Factor.h
@@ -59,8 +59,6 @@ namespace gtsam {
      */
     virtual double error(const Config& c) const = 0;
 
-    virtual std::string dump() const = 0;
-
     /**
      * return keys in preferred order
      */
diff --git a/cpp/LinearConstraint.cpp b/cpp/LinearConstraint.cpp
index 34c5955e4..71e7e23e2 100644
--- a/cpp/LinearConstraint.cpp
+++ b/cpp/LinearConstraint.cpp
@@ -99,11 +99,6 @@ list<string> LinearConstraint::keys(const std::string& key) const {
 	return ret;
 }
 
-string LinearConstraint::dump() const {
-	string ret;
-	return ret;
-}
-
 LinearConstraint::shared_ptr combineConstraints(
 		const set<LinearConstraint::shared_ptr>& constraints) {
 	map<string, Matrix> blocks;
diff --git a/cpp/LinearConstraint.h b/cpp/LinearConstraint.h
index 2aafd95f4..ea5b411a8 100644
--- a/cpp/LinearConstraint.h
+++ b/cpp/LinearConstraint.h
@@ -90,10 +90,6 @@ public:
 	 */
 	ConstrainedConditionalGaussian::shared_ptr
 	eliminate(const std::string& key);
-	/**
-	 * returns a version of the factor as a string
-	 */
-	std::string dump() const;
 
 	/** get a copy of b */
 	const Vector& get_b() const {
diff --git a/cpp/LinearFactor.h b/cpp/LinearFactor.h
index 814dbeab6..815d4dfe4 100644
--- a/cpp/LinearFactor.h
+++ b/cpp/LinearFactor.h
@@ -120,7 +120,6 @@ public:
 	// Implementing Factor virtual functions
 
 	double error(const VectorConfig& c) const; /**  0.5*(A*x-b)'*(A*x-b) */
-	std::string dump() const { return "";}
 	std::size_t size() const { return As.size();}
 
 	/** STL like, return the iterator pointing to the first node */
diff --git a/cpp/NonlinearFactor.h b/cpp/NonlinearFactor.h
index ba7f6d7e1..04f738ca0 100644
--- a/cpp/NonlinearFactor.h
+++ b/cpp/NonlinearFactor.h
@@ -98,9 +98,6 @@ namespace gtsam {
     /** get the size of the factor */
     std::size_t size() const{return keys_.size();}
 
-    /** dump the information of the factor into a string **/
-    std::string dump() const{return "";}
-
   private:
 
 		/** Serialization function */
@@ -149,8 +146,6 @@ namespace gtsam {
 
     /** linearize a non-linearFactor1 to get a linearFactor1 */
     boost::shared_ptr<LinearFactor> linearize(const VectorConfig& c) const;
-
-    std::string dump() const {return "";}
   };
 
 	/**
@@ -193,8 +188,6 @@ namespace gtsam {
 
     /** Linearize a non-linearFactor2 to get a linearFactor2 */
     boost::shared_ptr<LinearFactor> linearize(const VectorConfig& c) const;
-
-    std::string dump() const{return "";};
   };
 
   /* ************************************************************************* */
diff --git a/cpp/VSLAMFactor.cpp b/cpp/VSLAMFactor.cpp
index b20bbca6a..44a287610 100644
--- a/cpp/VSLAMFactor.cpp
+++ b/cpp/VSLAMFactor.cpp
@@ -86,21 +86,3 @@ bool VSLAMFactor<Config>::equals(const NonlinearFactor<Config>& f, double tol) c
 }
 
 /* ************************************************************************* */
-template <class Config>
-string VSLAMFactor<Config>::dump() const
-{
-  int i = getCameraFrameNumber();
-  int j = getLandmarkNumber();
-  Vector z = ConvenientFactor::measurement();
-  char buffer[200];
-  buffer[0] = 0;
-  sprintf(buffer, "1 %d %d %f %d", i, j , ConvenientFactor::sigma(), (int)z.size());
-  for(size_t i = 0; i < z.size(); i++)
-    sprintf(buffer, "%s %f", buffer, z(i));
-  sprintf(buffer, "%s %s", buffer, K_.dump().c_str());
-
-  return string(buffer);
-	string temp;
-	return temp;
-}
-
diff --git a/cpp/VSLAMFactor.h b/cpp/VSLAMFactor.h
index 76cab455a..e32277bb0 100644
--- a/cpp/VSLAMFactor.h
+++ b/cpp/VSLAMFactor.h
@@ -66,11 +66,6 @@ class VSLAMFactor : public NonlinearFactor<Config>
 
   int getCameraFrameNumber() const { return cameraFrameNumber_; }
   int getLandmarkNumber()    const { return landmarkNumber_;    }
-
-  /**
-   * dump the information of the factor into a string
-   */
-  std::string dump() const;
 };
 
 }
diff --git a/cpp/Vector.cpp b/cpp/Vector.cpp
index 064ef0bc3..dfe861e62 100644
--- a/cpp/Vector.cpp
+++ b/cpp/Vector.cpp
@@ -106,18 +106,6 @@ namespace gtsam {
     odprintf("]\n");
   }
   
-  /* ************************************************************************* */
-  string dump(const Vector& v)
-  {
-	  ostringstream oss;
-	  oss << "[";
-	  size_t n = v.size();
-	  for(size_t i=0; i<n; i++)
-		  oss << v[i] << (i<n-1 ? "; " : "");
-	  oss << "]";
-	  return oss.str();
-  }
-
   /* ************************************************************************* */
   bool operator==(const Vector& vec1,const Vector& vec2) {
     Vector::const_iterator it1 = vec1.begin();
diff --git a/cpp/Vector.h b/cpp/Vector.h
index 789c35043..d029a130f 100644
--- a/cpp/Vector.h
+++ b/cpp/Vector.h
@@ -56,11 +56,6 @@ bool zero(const Vector& v);
  */
 void print(const Vector& v, const std::string& s = "");
 
-/**
- * returns a string suitable for printing
- */
-std::string dump(const Vector& v);
-
 /**
  * operator==()
  */