From 8de7e2e0d2870f91e07bbe223252f4fe9d8df418 Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Sat, 17 Jan 2015 18:04:43 -0500
Subject: [PATCH] deleted useless multiplication by identity

---
 gtsam/navigation/PreintegrationBase.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h
index 2faefb856..bd0fd62e0 100644
--- a/gtsam/navigation/PreintegrationBase.h
+++ b/gtsam/navigation/PreintegrationBase.h
@@ -360,7 +360,7 @@ public:
           // dfV/dPosej
           Matrix::Zero(3,6),
           // dfR/dPosej
-          D_fR_fRrot *  ( I_3x3 ), Z_3x3;
+          D_fR_fRrot, Z_3x3;
     }
     if(H4) {
       H4->resize(9,3);