From fd0ad8ae78a6574259c5b52847c490fbf70b6edb Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Fri, 17 Jul 2015 15:32:58 -0700
Subject: [PATCH] Removed some useles computation

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

diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp
index 2f03d72a4..917b80c9a 100644
--- a/gtsam/navigation/AHRSFactor.cpp
+++ b/gtsam/navigation/AHRSFactor.cpp
@@ -199,7 +199,7 @@ Vector AHRSFactor::evaluateError(const Rot3& Ri, const Rot3& Rj,
   if (H2) {
     // dfR/dPosej
     H2->resize(3, 3);
-    (*H2) << D_fR_fRrot * Matrix3::Identity();
+    (*H2) << D_fR_fRrot;
   }
 
   if (H3) {