From a2fb0e49d51c9c822ad13f017c2521e572d6274c Mon Sep 17 00:00:00 2001
From: Gerry Chen <gerry.chen2015@gmail.com>
Date: Sun, 30 Jan 2022 21:30:03 -0500
Subject: [PATCH] Revert "create backwards compatibility unit test for
 NoiseModelFactor1"

This reverts commit c9dbb6e04085dad6dc7e48c99dbe6b5624a4575f.
---
 gtsam/nonlinear/tests/priorFactor.xml         | 77 -------------------
 .../tests/testSerializationNonlinear.cpp      | 53 -------------
 2 files changed, 130 deletions(-)
 delete mode 100644 gtsam/nonlinear/tests/priorFactor.xml

diff --git a/gtsam/nonlinear/tests/priorFactor.xml b/gtsam/nonlinear/tests/priorFactor.xml
deleted file mode 100644
index 46752262b..000000000
--- a/gtsam/nonlinear/tests/priorFactor.xml
+++ /dev/null
@@ -1,77 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
-<!DOCTYPE boost_serialization>
-<boost_serialization signature="serialization::archive" version="19">
-<data class_id="0" tracking_level="1" version="0" object_id="_0">
-        <NoiseModelFactor1 class_id="1" tracking_level="0" version="0">
-                <NoiseModelFactor class_id="2" tracking_level="0" version="0">
-                        <NonlinearFactor class_id="3" tracking_level="0" version="0">
-                                <keys_>
-                                        <count>1</count>
-                                        <item_version>0</item_version>
-                                        <item>12345</item>
-                                </keys_>
-                        </NonlinearFactor>
-                        <noiseModel_ class_id="5" tracking_level="0" version="1">
-                                <px class_id="6" class_name="gtsam_noiseModel_Unit" tracking_level="1" version="0" object_id="_1">
-                                        <Isotropic class_id="7" tracking_level="1" version="0" object_id="_2">
-                                                <Diagonal class_id="8" tracking_level="1" version="0" object_id="_3">
-                                                        <Gaussian class_id="9" tracking_level="0" version="0">
-                                                                <Base class_id="10" tracking_level="0" version="0">
-                                                                        <dim_>6</dim_>
-                                                                </Base>
-                                                                <sqrt_information_ class_id="11" tracking_level="0" version="1">
-                                                                        <initialized>0</initialized>
-                                                                </sqrt_information_>
-                                                        </Gaussian>
-                                                        <sigmas_ class_id="12" tracking_level="0" version="0">
-                                                                <size>6</size>
-                                                                <data>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                </data>
-                                                        </sigmas_>
-                                                        <invsigmas_>
-                                                                <size>6</size>
-                                                                <data>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                        <item>1.00000000000000000e+00</item>
-                                                                </data>
-                                                        </invsigmas_>
-                                                </Diagonal>
-                                                <sigma_>1.00000000000000000e+00</sigma_>
-                                                <invsigma_>1.00000000000000000e+00</invsigma_>
-                                        </Isotropic>
-                                </px>
-                        </noiseModel_>
-                </NoiseModelFactor>
-        </NoiseModelFactor1>
-        <prior_ class_id="13" tracking_level="0" version="0">
-                <R_ class_id="14" tracking_level="0" version="0">
-                        <rot11>4.11982245665682978e-01</rot11>
-                        <rot12>-8.33737651774156818e-01</rot12>
-                        <rot13>-3.67630462924899259e-01</rot13>
-                        <rot21>-5.87266449276209815e-02</rot21>
-                        <rot22>-4.26917621276207360e-01</rot22>
-                        <rot23>9.02381585483330806e-01</rot23>
-                        <rot31>-9.09297426825681709e-01</rot31>
-                        <rot32>-3.50175488374014632e-01</rot32>
-                        <rot33>-2.24845095366152908e-01</rot33>
-                </R_>
-                <t_ class_id="15" tracking_level="0" version="0">
-                        <data>
-                                <item>4.00000000000000000e+00</item>
-                                <item>5.00000000000000000e+00</item>
-                                <item>6.00000000000000000e+00</item>
-                        </data>
-                </t_>
-        </prior_>
-</data>
-</boost_serialization>
diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
index f7b524a5c..4a73cbb0b 100644
--- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
+++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
@@ -107,59 +107,6 @@ TEST (Serialization, TemplatedValues) {
   EXPECT(equalsBinary(values));
 }
 
-bool str_assert_equal(const string& expected, const string& actual) {
-  if (actual == expected) return true;
-  printf("Not equal:\n");
-  std::cout << "expected:\n" << expected << std::endl;
-  std::cout << "actual:\n" << actual << std::endl;
-  return false;
-}
-TEST(Serialization, NoiseModelFactor1_backwards_compatibility) {
-  PriorFactor<Pose3> factor(
-      12345, Pose3(Rot3::RzRyRx(Vector3(1., 2., 3.)), Point3(4., 5., 6.)),
-      noiseModel::Unit::Create(6));
-
-  // String
-  std::string actual_str = serialize(factor);
-  // Generated from hash 3ba65669113f41d0e56a03b4b314047776bab5c4 (>4.2a4)
-  std::string expected_str =
-      "22 serialization::archive 19 1 0\n"
-      "0 0 0 0 0 0 0 1 0 12345 0 1 6 21 gtsam_noiseModel_Unit 1 0\n"
-      "1 1 0\n"
-      "2 1 0\n"
-      "3 0 0 0 0 6 0 1 0 0 0 6 1.00000000000000000e+00 1.00000000000000000e+00 "
-      "1.00000000000000000e+00 1.00000000000000000e+00 1.00000000000000000e+00 "
-      "1.00000000000000000e+00 6 1.00000000000000000e+00 "
-      "1.00000000000000000e+00 1.00000000000000000e+00 1.00000000000000000e+00 "
-      "1.00000000000000000e+00 1.00000000000000000e+00 1.00000000000000000e+00 "
-      "1.00000000000000000e+00 0 0 0 0 4.11982245665682978e-01 "
-      "-8.33737651774156818e-01 -3.67630462924899259e-01 "
-      "-5.87266449276209815e-02 -4.26917621276207360e-01 "
-      "9.02381585483330806e-01 -9.09297426825681709e-01 "
-      "-3.50175488374014632e-01 -2.24845095366152908e-01 0 0 "
-      "4.00000000000000000e+00 5.00000000000000000e+00 "
-      "6.00000000000000000e+00\n";
-  EXPECT(str_assert_equal(expected_str, actual_str));
-  PriorFactor<Pose3> factor_deserialized_str = PriorFactor<Pose3>();
-  deserializeFromString(expected_str, factor_deserialized_str);
-  EXPECT(assert_equal(factor, factor_deserialized_str));
-
-  // XML
-  std::string actual_xml = serializeXML(factor);
-  std::string expected_xml;
-  {  // read from file
-    // Generated from hash 3ba65669113f41d0e56a03b4b314047776bab5c4 (>4.2a4)
-    std::ifstream f("priorFactor.xml");
-    std::stringstream buffer;
-    buffer << f.rdbuf();
-    expected_xml = buffer.str();
-  }
-  EXPECT(str_assert_equal(expected_xml, actual_xml));
-  PriorFactor<Pose3> factor_deserialized_xml = PriorFactor<Pose3>();
-  deserializeFromXMLFile("priorFactor.xml", factor_deserialized_xml);
-  EXPECT(assert_equal(factor, factor_deserialized_xml));
-}
-
 TEST(Serialization, ISAM2) {
 
   gtsam::ISAM2Params parameters;