From 5defa4c278aa00bbb46a355916538d44fdbbae8d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 26 Sep 2020 14:43:39 -0400
Subject: [PATCH] wrapped BearingRange::Measure method and removed deprecated
 classes

---
 gtsam/gtsam.i | 96 +--------------------------------------------------
 1 file changed, 1 insertion(+), 95 deletions(-)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 6492b70b1..d9aa23893 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -334,99 +334,6 @@ virtual class GenericValue : gtsam::Value {
   void serializable() const;
 };
 
-#include <gtsam/base/deprecated/LieScalar.h>
-class LieScalar {
-  // Standard constructors
-  LieScalar();
-  LieScalar(double d);
-
-  // Standard interface
-  double value() const;
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::LieScalar& expected, double tol) const;
-
-  // Group
-  static gtsam::LieScalar identity();
-  gtsam::LieScalar inverse() const;
-  gtsam::LieScalar compose(const gtsam::LieScalar& p) const;
-  gtsam::LieScalar between(const gtsam::LieScalar& l2) const;
-
-  // Manifold
-  size_t dim() const;
-  gtsam::LieScalar retract(Vector v) const;
-  Vector localCoordinates(const gtsam::LieScalar& t2) const;
-
-  // Lie group
-  static gtsam::LieScalar Expmap(Vector v);
-  static Vector Logmap(const gtsam::LieScalar& p);
-};
-
-#include <gtsam/base/deprecated/LieVector.h>
-class LieVector {
-  // Standard constructors
-  LieVector();
-  LieVector(Vector v);
-
-  // Standard interface
-  Vector vector() const;
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::LieVector& expected, double tol) const;
-
-  // Group
-  static gtsam::LieVector identity();
-  gtsam::LieVector inverse() const;
-  gtsam::LieVector compose(const gtsam::LieVector& p) const;
-  gtsam::LieVector between(const gtsam::LieVector& l2) const;
-
-  // Manifold
-  size_t dim() const;
-  gtsam::LieVector retract(Vector v) const;
-  Vector localCoordinates(const gtsam::LieVector& t2) const;
-
-  // Lie group
-  static gtsam::LieVector Expmap(Vector v);
-  static Vector Logmap(const gtsam::LieVector& p);
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/base/deprecated/LieMatrix.h>
-class LieMatrix {
-  // Standard constructors
-  LieMatrix();
-  LieMatrix(Matrix v);
-
-  // Standard interface
-  Matrix matrix() const;
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::LieMatrix& expected, double tol) const;
-
-  // Group
-  static gtsam::LieMatrix identity();
-  gtsam::LieMatrix inverse() const;
-  gtsam::LieMatrix compose(const gtsam::LieMatrix& p) const;
-  gtsam::LieMatrix between(const gtsam::LieMatrix& l2) const;
-
-  // Manifold
-  size_t dim() const;
-  gtsam::LieMatrix retract(Vector v) const;
-  Vector localCoordinates(const gtsam::LieMatrix & t2) const;
-
-  // Lie group
-  static gtsam::LieMatrix Expmap(Vector v);
-  static Vector Logmap(const gtsam::LieMatrix& p);
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
 //*************************************************************************
 // geometry
 //*************************************************************************
@@ -2705,8 +2612,7 @@ class BearingRange {
   BearingRange(const BEARING& b, const RANGE& r);
   BEARING bearing() const;
   RANGE range() const;
-  //TODO need to update wrap to allow self referencing of class
-  // static gtsam::BearingRange<POSE, POINT, BEARING, RANGE> Measure(const POSE& pose, const POINT& point);
+  static This Measure(const POSE& pose, const POINT& point);
   static BEARING MeasureBearing(const POSE& pose, const POINT& point);
   static RANGE MeasureRange(const POSE& pose, const POINT& point);
   void print(string s) const;