diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 8abc538d875763d1a8b50e82ef213420faaefc37..14f8588b7d01715a6ffb3dcd2e8be8d119aff78d 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -197,7 +197,6 @@ class Problem : public std::enable_shared_from_this<Problem>
         void removeMotionProvider(MotionProviderPtr proc);
 
     public:
-//        MotionProviderPtr getMotionProvider();
         std::map<int,MotionProviderPtr>& getMotionProviderMap();
         const std::map<int,MotionProviderPtr>& getMotionProviderMap() const;
 
@@ -443,13 +442,6 @@ inline bool Problem::isPriorSet() const
     return prior_options_ == nullptr;
 }
 
-//inline MotionProviderPtr Problem::getMotionProvider()
-//{
-//    if (not motion_provider_map_.empty())
-//        return motion_provider_map_.begin()->second;
-//    return nullptr;
-//}
-
 inline std::map<int,MotionProviderPtr>& Problem::getMotionProviderMap()
 {
     return motion_provider_map_;
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 787619db07741aa4ab7fd8228aaa37787885bbd6..8cdffb0070a9f8ed8ad2f6d18c4d309ba949c833 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -969,42 +969,6 @@ bool Problem::getLandmarkCovariance(LandmarkBaseConstPtr _landmark_ptr, Eigen::M
     }
 
     return success;
-
-
-
-//    bool success(true);
-//    int i = 0, j = 0;
-//
-//    const auto& state_bloc_vec = _landmark_ptr->getStateBlockVec();
-//
-//    // computing size
-//    SizeEigen sz = 0;
-//    for (const auto& sb : state_bloc_vec)
-//        if (sb)
-//            sz += sb->getLocalSize();
-//
-//    // resizing
-//    _covariance = Eigen::MatrixXs(sz, sz);
-//
-//    // filling covariance
-//
-//    for (const auto& sb_i : state_bloc_vec)
-//    {
-//        if (sb_i)
-//        {
-//            j = 0;
-//            for (const auto& sb_j : state_bloc_vec)
-//            {
-//                if (sb_j)
-//                {
-//                    success = success && getCovarianceBlock(sb_i, sb_j, _covariance, i, j);
-//                    j += sb_j->getLocalSize();
-//                }
-//            }
-//            i += sb_i->getLocalSize();
-//        }
-//    }
-//    return success;
 }
 
 MapBasePtr Problem::getMap() const