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Removed some obsolete code

release/4.3a0
dellaert 2014-10-05 19:09:16 +02:00
parent 824cb1deb1
commit ff9dd8eb8d
1 changed files with 2 additions and 26 deletions
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28
gtsam_unstable/nonlinear/Expression-inl.h
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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;
}
}
;
};
//-----------------------------------------------------------------------------
}