From 73564f1170d4f2e9fc1fbfc20fe431972de1b4ea Mon Sep 17 00:00:00 2001
From: nsrinivasan7 <natesh.rvce@gmail.com>
Date: Sun, 30 Nov 2014 17:07:26 -0500
Subject: [PATCH] removed unecessary code

---
 gtsam/geometry/Rot2.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/gtsam/geometry/Rot2.cpp b/gtsam/geometry/Rot2.cpp
index 8be5e9d93..5d9308b13 100644
--- a/gtsam/geometry/Rot2.cpp
+++ b/gtsam/geometry/Rot2.cpp
@@ -92,11 +92,7 @@ Point2 Rot2::rotate(const Point2& p, OptionalJacobian<2, 1> H1,
 Point2 Rot2::unrotate(const Point2& p,
     OptionalJacobian<2, 1> H1, OptionalJacobian<2, 2> H2) const {
   const Point2 q = Point2(c_ * p.x() + s_ * p.y(), -s_ * p.x() + c_ * p.y());
-  if (H1) {
-      Matrix21 H1_;
-      H1_ << q.y(), -q.x();
-      *H1 = H1_;  // R_{pi/2}q
-  }
+  if (H1) *H1 << q.y(), -q.x();
   if (H2) *H2 = transpose();
   return q;
 }