diff --git a/gtsam/slam/Simulated3D.cpp b/gtsam/slam/Simulated3D.cpp
deleted file mode 100644
index e2f6211a5..000000000
--- a/gtsam/slam/Simulated3D.cpp
+++ /dev/null
@@ -1,43 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
-* @file   Simulated3D.cpp
-* @brief  measurement functions and derivatives for simulated 3D robot
-* @author Alex Cunningham
-**/
-
-#include <gtsam/slam/simulated3D.h>
-
-namespace gtsam {
-
-namespace simulated3D {
-
-Point3 prior (const Point3& x, boost::optional<Matrix&> H) {
-	if (H) *H = eye(3);
-	return x;
-}
-
-Point3 odo(const Point3& x1, const Point3& x2,
-		boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) {
-	if (H1) *H1 = -1 * eye(3);
-	if (H2) *H2 = eye(3);
-	return x2 - x1;
-}
-
-Point3 mea(const Point3& x,  const Point3& l,
-		boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) {
-	if (H1) *H1 = -1 * eye(3);
-	if (H2) *H2 = eye(3);
-	return l - x;
-}
-
-}} // namespace gtsam::simulated3D
diff --git a/gtsam/slam/Simulated3D.h b/gtsam/slam/Simulated3D.h
deleted file mode 100644
index 32f05e967..000000000
--- a/gtsam/slam/Simulated3D.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file   Simulated3D.h
- * @brief  measurement functions and derivatives for simulated 3D robot
- * @author Alex Cunningham
- **/
-
-// \callgraph
-
-#pragma once
-
-#include <gtsam/base/Matrix.h>
-#include <gtsam/geometry/Point3.h>
-#include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/nonlinear/Key.h>
-#include <gtsam/nonlinear/TupleValues.h>
-
-// \namespace
-
-namespace gtsam {
-namespace simulated3D {
-
-/**
- * This is a linear SLAM domain where both poses and landmarks are
- * 3D points, without rotation. The structure and use is based on
- * the simulated2D domain.
- */
-
-typedef gtsam::TypedSymbol<Point3, 'x'> PoseKey;
-typedef gtsam::TypedSymbol<Point3, 'l'> PointKey;
-
-typedef Values<PoseKey> PoseValues;
-typedef Values<PointKey> PointValues;
-typedef TupleValues2<PoseValues, PointValues> Values;
-
-/**
- * Prior on a single pose
- */
-Point3 prior(const Point3& x, boost::optional<Matrix&> H = boost::none);
-
-/**
- * odometry between two poses
- */
-Point3 odo(const Point3& x1, const Point3& x2,
-		boost::optional<Matrix&> H1 = boost::none,
-		boost::optional<Matrix&> H2 = boost::none);
-
-/**
- *  measurement between landmark and pose
- */
-Point3 mea(const Point3& x, const Point3& l,
-		boost::optional<Matrix&> H1 = boost::none,
-		boost::optional<Matrix&> H2 = boost::none);
-
-/**
- * A prior factor on a single linear robot pose
- */
-struct PointPrior3D: public NonlinearFactor1<Values, PoseKey> {
-
-	Point3 z_; ///< The prior pose value for the variable attached to this factor
-
-	/**
-	 * Constructor for a prior factor
-	 * @param z is the measured/prior position for the pose
-	 * @param model is the measurement model for the factor (Dimension: 3)
-	 * @param j is the key for the pose
-	 */
-	PointPrior3D(const Point3& z,
-			const SharedNoiseModel& model, const PoseKey& j) :
-				NonlinearFactor1<Values, PoseKey> (model, j), z_(z) {
-	}
-
-	/**
-	 * Evaluates the error at a given value of x,
-	 * with optional derivatives.
-	 * @param x is the current value of the variable
-	 * @param H is an optional Jacobian matrix (Dimension: 3x3)
-	 * @return Vector error between prior value and x (Dimension: 3)
-	 */
-	Vector evaluateError(const Point3& x, boost::optional<Matrix&> H =
-			boost::none) {
-		return (prior(x, H) - z_).vector();
-	}
-};
-
-/**
- * Models a linear 3D measurement between 3D points
- */
-struct Simulated3DMeasurement: public NonlinearFactor2<Values,
-PoseKey, PointKey> {
-
-	Point3 z_; ///< Linear displacement between a pose and landmark
-
-	/**
-	 * Creates a measurement factor with a given measurement
-	 * @param z is the measurement, a linear displacement between poses and landmarks
-	 * @param model is a measurement model for the factor (Dimension: 3)
-	 * @param j1 is the pose key of the robot
-	 * @param j2 is the point key for the landmark
-	 */
-	Simulated3DMeasurement(const Point3& z,
-			const SharedNoiseModel& model, PoseKey& j1, PointKey j2) :
-				NonlinearFactor2<Values, PoseKey, PointKey> (
-						model, j1, j2), z_(z) {
-	}
-
-	/**
-	 * Error function with optional derivatives
-	 * @param x1 a robot pose value
-	 * @param x2 a landmark point value
-	 * @param H1 is an optional Jacobian matrix in terms of x1 (Dimension: 3x3)
-	 * @param H2 is an optional Jacobian matrix in terms of x2 (Dimension: 3x3)
-	 * @return vector error between measurement and prediction (Dimension: 3)
-	 */
-	Vector evaluateError(const Point3& x1, const Point3& x2, boost::optional<
-			Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) {
-		return (mea(x1, x2, H1, H2) - z_).vector();
-	}
-};
-
-}} // namespace simulated3D