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Remove outdated comments

release/4.3a0
Toni 2019-01-02 21:13:26 +01:00
parent 5d87e68097
commit 50a9695156
1 changed files with 0 additions and 2 deletions
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gtsam/geometry/Unit3.cpp
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@ -257,8 +257,6 @@ Unit3 Unit3::retract(const Vector2& v, OptionalJacobian<3,2> H) const {
// Treat case of very small v differently // Treat case of very small v differently
if (theta < std::numeric_limits<double>::epsilon()) { if (theta < std::numeric_limits<double>::epsilon()) {
// Jacobian
// TODO what happens if theta = 0 ? sin(theta)/theta -> 1 when theta -> 0.
if (H) { if (H) {
*H = -p_ * xi_hat.transpose() * basis() + *H = -p_ * xi_hat.transpose() * basis() +
basis(); basis();