From 814b8c22bfa04604d9e91f9ba486a40acddae77b Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 19 Jul 2015 00:40:42 -0700
Subject: [PATCH] Moved a derivative down

---
 gtsam/navigation/AHRSFactor.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp
index 92ec0dd9b..3e5654427 100644
--- a/gtsam/navigation/AHRSFactor.cpp
+++ b/gtsam/navigation/AHRSFactor.cpp
@@ -143,7 +143,6 @@ Vector AHRSFactor::evaluateError(const Rot3& Ri, const Rot3& Rj,
 
   // Coriolis term
   const Vector3 coriolis = _PIM_.integrateCoriolis(Ri);
-  const Matrix3 coriolisHat = skewSymmetric(coriolis);
   const Vector3 correctedOmega = biascorrectedOmega - coriolis;
 
   // Prediction
@@ -161,7 +160,7 @@ Vector AHRSFactor::evaluateError(const Rot3& Ri, const Rot3& Rj,
   if (H1) {
     // dfR/dRi
     H1->resize(3, 3);
-    Matrix3 D_coriolis = -D_cDeltaRij_cOmega * coriolisHat;
+    Matrix3 D_coriolis = -D_cDeltaRij_cOmega * skewSymmetric(coriolis);
     (*H1)
         << D_fR_fRrot * (-actualRij.transpose() - fRrot.transpose() * D_coriolis);
   }