From b82acc133b46cdd2b4a57ca327757079a37c7124 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 11 Nov 2021 14:24:15 -0500
Subject: [PATCH] properly deprecate additional methods to fully finish
 deprecation

---
 gtsam/linear/GaussianFactorGraph.cpp   |  7 -------
 gtsam/linear/GaussianFactorGraph.h     | 11 ++++++++---
 gtsam/nonlinear/Marginals.h            |  2 ++
 gtsam/nonlinear/NonlinearFactorGraph.h |  2 ++
 4 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp
index dc2eb8dd6..36db9f5d7 100644
--- a/gtsam/linear/GaussianFactorGraph.cpp
+++ b/gtsam/linear/GaussianFactorGraph.cpp
@@ -504,13 +504,6 @@ namespace gtsam {
     return e;
   }
 
-  /* ************************************************************************* */
-  /** \deprecated */
-  VectorValues GaussianFactorGraph::optimize(boost::none_t,
-    const Eliminate& function) const {
-      return optimize(function);
-  }
-
   /* ************************************************************************* */
   void GaussianFactorGraph::printErrors(
       const VectorValues& values, const std::string& str,
diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h
index d41374854..2dc5747cd 100644
--- a/gtsam/linear/GaussianFactorGraph.h
+++ b/gtsam/linear/GaussianFactorGraph.h
@@ -395,9 +395,14 @@ namespace gtsam {
 
   public:
 
-    /** \deprecated */
-    VectorValues optimize(boost::none_t,
-      const Eliminate& function = EliminationTraitsType::DefaultEliminate) const;
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
+   /** \deprecated */
+   VectorValues optimize(boost::none_t,
+                         const Eliminate& function =
+                             EliminationTraitsType::DefaultEliminate) const {
+     return optimize(function);
+   }
+#endif
 
   };
 
diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h
index 9935bafdd..e73038db0 100644
--- a/gtsam/nonlinear/Marginals.h
+++ b/gtsam/nonlinear/Marginals.h
@@ -131,6 +131,7 @@ protected:
   void computeBayesTree(const Ordering& ordering);
 
 public:
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
   /** \deprecated argument order changed due to removing boost::optional<Ordering> */
   Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization,
             const Ordering& ordering) : Marginals(graph, solution, ordering, factorization) {}
@@ -142,6 +143,7 @@ public:
   /** \deprecated argument order changed due to removing boost::optional<Ordering> */
   Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization,
             const Ordering& ordering) : Marginals(graph, solution, ordering, factorization) {}
+#endif
 
 };
 
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h
index 4d321f8ab..5b9ed4bb1 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@@ -265,6 +265,7 @@ namespace gtsam {
 
   public:
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
     /** \deprecated */
     boost::shared_ptr<HessianFactor> linearizeToHessianFactor(
         const Values& values, boost::none_t, const Dampen& dampen = nullptr) const
@@ -274,6 +275,7 @@ namespace gtsam {
     Values updateCholesky(const Values& values, boost::none_t,
                           const Dampen& dampen = nullptr) const
       {return updateCholesky(values, dampen);}
+#endif
 
   };