Removed some obsolete code
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				|  | @ -85,24 +85,12 @@ public: | |||
|     jacobians_[key] = H; | ||||
|   } | ||||
| 
 | ||||
|   /// Construct from value and JacobianMap
 | ||||
|   Augmented(const T& t, const JacobianMap& jacobians) : | ||||
|       value_(t), jacobians_(jacobians) { | ||||
|   } | ||||
| 
 | ||||
|   /// Construct value, pre-multiply jacobians by H
 | ||||
|   Augmented(const T& t, const Matrix& H, const JacobianMap& jacobians) : | ||||
|       value_(t) { | ||||
|     add(H, jacobians); | ||||
|   } | ||||
| 
 | ||||
|   /// Construct from value and two disjoint JacobianMaps
 | ||||
|   Augmented(const T& t, const JacobianMap& jacobians1, | ||||
|       const JacobianMap& jacobians2) : | ||||
|       value_(t), jacobians_(jacobians1) { | ||||
|     add(jacobians2); | ||||
|   } | ||||
| 
 | ||||
|   /// Construct value, pre-multiply jacobians by H
 | ||||
|   Augmented(const T& t, const Matrix& H1, const JacobianMap& jacobians1, | ||||
|       const Matrix& H2, const JacobianMap& jacobians2) : | ||||
|  | @ -148,18 +136,6 @@ struct JacobianTrace { | |||
|     return t; | ||||
|   } | ||||
|   virtual void reverseAD(const Matrix& H, JacobianMap& jacobians) const = 0; | ||||
| 
 | ||||
| //  /// Insert terms into jacobians_, adding if already exists
 | ||||
| //  static void add(const JacobianMap& terms) {
 | ||||
| //    typedef std::pair<Key, Matrix> Pair;
 | ||||
| //    BOOST_FOREACH(const Pair& term, terms) {
 | ||||
| //      JacobianMap::iterator it = jacobians_.find(term.first);
 | ||||
| //      if (it != jacobians_.end())
 | ||||
| //        it->second += term.second;
 | ||||
| //      else
 | ||||
| //        jacobians_[term.first] = term.second;
 | ||||
| //    }
 | ||||
| //  }
 | ||||
| }; | ||||
| 
 | ||||
| //-----------------------------------------------------------------------------
 | ||||
|  | @ -467,8 +443,8 @@ public: | |||
|     return trace; | ||||
|   } | ||||
| 
 | ||||
| } | ||||
| ; | ||||
| }; | ||||
| 
 | ||||
| //-----------------------------------------------------------------------------
 | ||||
| 
 | ||||
| } | ||||
|  |  | |||
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