From 4bd80357f5a1d5e451dc54982bf8efb517ea7136 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 6 Nov 2021 13:46:19 -0400
Subject: [PATCH] Use Eigen expressions more effectively and kill & in code.

---
 gtsam/geometry/Pose3.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 4bfb574b1..8e43105cd 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -85,20 +85,20 @@ Vector6 Pose3::Adjoint(const Vector6& xi_b, OptionalJacobian<6, 6> H_pose,
 /// The dual version of Adjoint
 Vector6 Pose3::AdjointTranspose(const Vector6& x, OptionalJacobian<6, 6> H_pose,
                                 OptionalJacobian<6, 6> H_x) const {
-  const Matrix6 &AdT = AdjointMap().transpose();
-  const Vector6 &AdTx = AdT * x;
+  const Matrix6 Ad = AdjointMap();
+  const Vector6 AdTx = Ad.transpose() * x;
 
   // Jacobians
   // See docs/math.pdf for more details.
   if (H_pose) {
-    const auto &w_T_hat = skewSymmetric(AdTx.head<3>()),
-               &v_T_hat = skewSymmetric(AdTx.tail<3>());
+    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();
   }
   if (H_x) {
-    *H_x = AdT;
+    *H_x = Ad.transpose();
   }
 
   return AdTx;