From 0c865fa52a8145d72faee004d5c4e379e33b6929 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Mon, 29 Mar 2021 23:00:38 -0400
Subject: [PATCH] removed extra "else"

---
 gtsam_unstable/slam/SmartStereoProjectionFactorPP.h | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index 13a8a90f0..57f32ab2d 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -276,7 +276,7 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
           Key key_j = nonuniqueKeys.at(j);
           if(i==j){
             augmentedHessianUniqueKeys.updateDiagonalBlock( keyToSlotMap[key_i] , augmentedHessian.diagonalBlock(i));
-          }else if(i < j){
+          }else{ // (i < j)
             if( keyToSlotMap[key_i] != keyToSlotMap[key_j] ){
               augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j],
                                                                  augmentedHessian.aboveDiagonalBlock(i,j));
@@ -286,10 +286,6 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
                                                               augmentedHessian.aboveDiagonalBlock(i,j).transpose());
             }
           }
-          else{ //TODO: remove else
-            augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j],
-                                                       augmentedHessian.aboveDiagonalBlock(j,i).transpose());
-          }
         }
       }
       augmentedHessianUniqueKeys.updateDiagonalBlock(nrUniqueKeys, augmentedHessian.diagonalBlock(nrNonuniqueKeys));