From 238563f0e5c164014e1624982ba797eb41b14d7c Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 6 Nov 2021 13:51:15 -0400
Subject: [PATCH] Cleaner Jacobian.

---
 gtsam/geometry/Pose3.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 8e43105cd..d0e60f3fd 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -93,9 +93,8 @@ Vector6 Pose3::AdjointTranspose(const Vector6& x, OptionalJacobian<6, 6> H_pose,
   if (H_pose) {
     const auto w_T_hat = skewSymmetric(AdTx.head<3>()),
                v_T_hat = skewSymmetric(AdTx.tail<3>());
-    *H_pose = (Matrix6() << w_T_hat, v_T_hat,  //
-               /*        */ v_T_hat, Z_3x3)
-                  .finished();
+    *H_pose << w_T_hat, v_T_hat,  //
+        /*  */ v_T_hat, Z_3x3;
   }
   if (H_x) {
     *H_x = Ad.transpose();