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Removed some useles computation

release/4.3a0
dellaert 2015-07-17 15:32:58 -07:00
parent 52baa97eca
commit fd0ad8ae78
1 changed files with 1 additions and 1 deletions
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gtsam/navigation/AHRSFactor.cpp
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@ -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) {