From ab4117090f24cd25ab913c9b7e4255817f3c970e Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Thu, 22 Mar 2012 18:05:36 +0000
Subject: [PATCH] Deleted old DoglegOptimizer placeholder

---
 gtsam/nonlinear/DoglegOptimizer-inl.h |  7 ---
 gtsam/nonlinear/DoglegOptimizer.h     | 67 ---------------------------
 2 files changed, 74 deletions(-)
 delete mode 100644 gtsam/nonlinear/DoglegOptimizer-inl.h
 delete mode 100644 gtsam/nonlinear/DoglegOptimizer.h

diff --git a/gtsam/nonlinear/DoglegOptimizer-inl.h b/gtsam/nonlinear/DoglegOptimizer-inl.h
deleted file mode 100644
index 432844101..000000000
--- a/gtsam/nonlinear/DoglegOptimizer-inl.h
+++ /dev/null
@@ -1,7 +0,0 @@
-/**
- * @file    DoglegOptimizer-inl.h
- * @brief   Nonlinear factor graph optimizer using Powell's Dogleg algorithm
- * @author  Richard Roberts
- */
-
-#pragma once
diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h
deleted file mode 100644
index 62ff72b05..000000000
--- a/gtsam/nonlinear/DoglegOptimizer.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**
- * @file    DoglegOptimizer.h
- * @brief   Nonlinear factor graph optimizer using Powell's Dogleg algorithm
- * @author  Richard Roberts
- */
-
-#pragma once
-
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-
-namespace gtsam {
-
-/**
- * A class to perform nonlinear optimization using Powell's dogleg algorithm.
- * This class is functional, meaning every method is \c const, and returns a new
- * copy of the class.
- *
- * \tparam VALUES The Values or TupleValues type to hold the values to be
- * estimated.
- *
- * \tparam GAUSSIAN_SOLVER The linear solver to use at each iteration,
- * currently either GaussianSequentialSolver or GaussianMultifrontalSolver.
- * The latter is typically faster, especially for non-trivial problems.
- */
-template<class VALUES, class GAUSSIAN_SOLVER>
-class DoglegOptimizer {
-
-protected:
-
-  typedef DoglegOptimizer<VALUES, GAUSSIAN_SOLVER> This; ///< Typedef to this class
-
-  const sharedGraph graph_;
-  const sharedValues values_;
-  const double error_;
-
-public:
-
-  typedef VALUES ValuesType; ///< Typedef of the VALUES template parameter
-  typedef GAUSSIAN_SOLVER SolverType; ///< Typedef of the GAUSSIAN_SOLVER template parameter
-  typedef NonlinearFactorGraph<VALUES> GraphType; ///< A nonlinear factor graph templated on ValuesType
-
-  typedef boost::shared_ptr<const GraphType> sharedGraph; ///< A shared_ptr to GraphType
-  typedef boost::shared_ptr<const ValuesType> sharedValues; ///< A shared_ptr to ValuesType
-
-
-  /**
-   * Construct a DoglegOptimizer from the factor graph to optimize and the
-   * initial estimate of the variable values, using the default variable
-   * ordering method, currently COLAMD.
-   * @param graph  The factor graph to optimize
-   * @param initialization  An initial estimate of the variable values
-   */
-  DoglegOptimizer(sharedGraph graph, sharedValues initialization);
-
-  /**
-   * Construct a DoglegOptimizer from the factor graph to optimize and the
-   * initial estimate of the variable values, using the default variable
-   * ordering method, currently COLAMD. (this non-shared-pointer version
-   * incurs a performance hit for copying, see DoglegOptimizer(sharedGraph, sharedValues)).
-   * @param graph  The factor graph to optimize
-   * @param initialization  An initial estimate of the variable values
-   */
-  DoglegOptimizer(const GraphType& graph, const ValuesType& initialization);
-
-};
-
-}