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removed unecessary code

release/4.3a0
nsrinivasan7 2014-11-30 17:07:26 -05:00
parent c250f1d732
commit 73564f1170
1 changed files with 1 additions and 5 deletions
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6
gtsam/geometry/Rot2.cpp
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@ -92,11 +92,7 @@ Point2 Rot2::rotate(const Point2& p, OptionalJacobian<2, 1> H1,
Point2 Rot2::unrotate(const Point2& p, Point2 Rot2::unrotate(const Point2& p,
OptionalJacobian<2, 1> H1, OptionalJacobian<2, 2> H2) const { OptionalJacobian<2, 1> H1, OptionalJacobian<2, 2> H2) const {
const Point2 q = Point2(c_ * p.x() + s_ * p.y(), -s_ * p.x() + c_ * p.y()); const Point2 q = Point2(c_ * p.x() + s_ * p.y(), -s_ * p.x() + c_ * p.y());
if (H1) { if (H1) *H1 << q.y(), -q.x();
Matrix21 H1_;
H1_ << q.y(), -q.x();
*H1 = H1_; // R_{pi/2}q
}
if (H2) *H2 = transpose(); if (H2) *H2 = transpose();
return q; return q;
} }