From 8cd7662dab50ed4259a5d2063b1400496f84631e Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 2 Apr 2012 20:43:34 +0000
Subject: [PATCH] Removed commented code

---
 gtsam/nonlinear/ISAM2.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 8d3777d8c..3a8d2d3bf 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -217,8 +217,6 @@ struct ISAM2Clique : public BayesTreeCliqueBase<ISAM2Clique, GaussianConditional
     // Compute gradient contribution
     const ConditionalType& conditional(*result.first);
     // Rewrite -(R * P')'*d   as   -(d' * R * P')'   for computational speed reasons
-//    gradientContribution_ << -(conditional.get_R() * conditional.permutation().transpose()).transpose() * conditional.get_d(),
-//        -conditional.get_S().transpose() * conditional.get_d();
     gradientContribution_ << -(conditional.get_d().transpose() * conditional.get_R() * conditional.permutation().transpose()).transpose(),
         -conditional.get_S().transpose() * conditional.get_d();
   }