Remove old implementation and rename NewFactorGraph, etc.

[ProfFan]

Since we have moved entirely to the new FG impl, we should remove the old impl and reduce our code enterprise.

Pinging @dellaert @marcrasi for comments :)

[dellaert]

Sure GitHub <[email protected]> wrote: “ Since we have moved entirely to the new FG impl, we should remove the old impl and reduce our code enterprise. Pinging @dellaert@marcrasi for comments :) — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.”

[marcrasi]

Yeah!

There are some tests of the old stuff that would be nice to migrate to the new stuff instead of deleting (like CGLSTests, testPlanarSLAM), so I'd suggest that we migrate those first and then delete.

We could claim bits by posting in this ticket before doing work, to avoid duplicating work.

I would like to rename all the old stuff to Old and remove the New prefix today. I'll start work on this soon unless anyone thinks there will be any major conflicts with work they have in progress.

[marcrasi]

Here's my proposal for coordinating work on this.

1. First, let's migrate/delete all the test files. As we do this, let's delete library code that becomes unused.
2. Next, let's do a final pass through all the library code and migrate/delete anything that we missed while doing the tests.

To coordinate work on the tests, put your name next to any test files you want to work on. Then check them off once they're done (I think everyone should be able to edit this comment to add names and checkmarks).

• Optimizers/LMTests.swift
• Optimizers/NLCGTests.swift (@marcrasi - remove unused optimizers #118)
• Optimizers/CGLSTests.swift
• Inference/GaussianFactorGraphTests.swift
• Inference/ValuesStorageTests.swift
• Inference/FactorGraphTests.swift
• Inference/OldGaussianFactorGraphTests.swift (@marcrasi - migrate GaussianFactorGraph tests to new factor graphs #117)
• Inference/BearingRangeFactorTests.swift
• Inference/VariableAssignmentsTests.swift
• Inference/NonlinearFactorGraphTests.swift
• Inference/ChordalInitializationTests.swift
• Inference/FactorTests.swift
• Datasets/G2OReader.swift (@marcrasi - migrate GaussianFactorGraph tests to new factor graphs #117)
• MCMC/MCMCTests.swift
• Geometry/Rot2Tests.swift
• Geometry/Pose3Tests.swift
• Geometry/Rot3Tests.swift
• Geometry/Pose2Tests.swift
• Core/TrappingDoubleTests.swift
• Core/JacobianTests.swift
• Core/Dictionary+DifferentiableTests.swift
• Core/MatrixTests.swift
• Core/MatrixNTests.swift
• Core/TensorFlowMatrixTests.swift
• Core/FixedSizeMatrixTests.swift
• Core/VectorNTests.swift
• Core/VectorTests.swift
• Core/AnyDifferentiableTests.swift
• Core/EuclideanVectorTests.swift
• Core/VectorNTests.swift.gyb
• Applications/ManipulationTests.swift

I have prepopulated checkmarks on all the files that are already using the new stuff.

[marcrasi]

Question for @ProfFan: We're not really using SGD and NLCG for anything right now. Should we just delete those instead of migrating them? I ask because they are using vectors in a way that makes my linear algebra work a bit harder, so it would be really convenient to eliminate them for now. We can bring them back, implemented in terms of the new stuff, if/when we ever need them.

[ProfFan]

@marcrasi Sure!