From a25e3f6d38f853d53fb6935511a74546efc9ba1d Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 2 Jan 2022 16:23:56 -0500
Subject: [PATCH] Remove deprecated methods from wrapper

---
 gtsam/linear/GaussianConditional.h |  2 +-
 gtsam/linear/linear.i              |  1 -
 gtsam/navigation/navigation.i      | 11 -----------
 gtsam/slam/slam.i                  |  2 --
 4 files changed, 1 insertion(+), 15 deletions(-)

diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
index 958f411f8..d93f65b42 100644
--- a/gtsam/linear/GaussianConditional.h
+++ b/gtsam/linear/GaussianConditional.h
@@ -128,7 +128,7 @@ namespace gtsam {
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
     /** Scale the values in \c gy according to the sigmas for the frontal variables in this
      *  conditional. */
-    void scaleFrontalsBySigma(VectorValues& gy) const;
+    void GTSAM_DEPRECATED scaleFrontalsBySigma(VectorValues& gy) const;
 #endif
 
    private:
diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index 7b1ce550f..7acc5bd41 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -467,7 +467,6 @@ virtual class GaussianConditional : gtsam::JacobianFactor {
     gtsam::VectorValues solveOtherRHS(const gtsam::VectorValues& parents,
                                       const gtsam::VectorValues& rhs) const;
     void solveTransposeInPlace(gtsam::VectorValues& gy) const;
-    void scaleFrontalsBySigma(gtsam::VectorValues& gy) const;
     Matrix R() const;
     Matrix S() const;
     Vector d() const;
diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
index c2a3bcdb4..6ede1645f 100644
--- a/gtsam/navigation/navigation.i
+++ b/gtsam/navigation/navigation.i
@@ -18,23 +18,12 @@ class ConstantBias {
 
   // Group
   static gtsam::imuBias::ConstantBias identity();
-  gtsam::imuBias::ConstantBias inverse() const;
-  gtsam::imuBias::ConstantBias compose(const gtsam::imuBias::ConstantBias& b) const;
-  gtsam::imuBias::ConstantBias between(const gtsam::imuBias::ConstantBias& b) const;
 
   // Operator Overloads
   gtsam::imuBias::ConstantBias operator-() const;
   gtsam::imuBias::ConstantBias operator+(const gtsam::imuBias::ConstantBias& b) const;
   gtsam::imuBias::ConstantBias operator-(const gtsam::imuBias::ConstantBias& b) const;
 
-  // Manifold
-  gtsam::imuBias::ConstantBias retract(Vector v) const;
-  Vector localCoordinates(const gtsam::imuBias::ConstantBias& b) const;
-
-  // Lie Group
-  static gtsam::imuBias::ConstantBias Expmap(Vector v);
-  static Vector Logmap(const gtsam::imuBias::ConstantBias& b);
-
   // Standard Interface
   Vector vector() const;
   Vector accelerometer() const;
diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i
index d276c4f2e..a0a7329dd 100644
--- a/gtsam/slam/slam.i
+++ b/gtsam/slam/slam.i
@@ -264,8 +264,6 @@ pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
 pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
     string filename, gtsam::noiseModel::Diagonal* model);
 pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D_robust(
-    string filename, gtsam::noiseModel::Base* model, int maxIndex);
 void save2D(const gtsam::NonlinearFactorGraph& graph,
             const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
             string filename);