From a552ba4539a762613a05ca162274b181fce2d07e Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 14 Jan 2010 05:59:33 +0000
Subject: [PATCH] Comments/formatting only

---
 cpp/BearingFactor.h       | 4 +---
 cpp/testBearingFactor.cpp | 5 ++---
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/cpp/BearingFactor.h b/cpp/BearingFactor.h
index 67fb829f4..85478baea 100644
--- a/cpp/BearingFactor.h
+++ b/cpp/BearingFactor.h
@@ -27,9 +27,7 @@ namespace gtsam {
 	 * Calculate relative bearing and optional derivative
 	 */
 	Rot2 relativeBearing(const Point2& d, boost::optional<Matrix&> H) {
-		double x = d.x(), y = d.y();
-		double d2 = x * x + y * y;
-		double n = sqrt(d2);
+		double x = d.x(), y = d.y(), d2 = x * x + y * y, n = sqrt(d2);
 		if (H) *H = Matrix_(1, 2, -y / d2, x / d2);
 		return Rot2(x / n, y / n);
 	}
diff --git a/cpp/testBearingFactor.cpp b/cpp/testBearingFactor.cpp
index cec069e72..5cad23cd1 100644
--- a/cpp/testBearingFactor.cpp
+++ b/cpp/testBearingFactor.cpp
@@ -1,12 +1,11 @@
 /**
  *  @file  testBearingFactor.cpp
  *  @brief Unit tests for BearingFactor Class
- *  @authors Frank Dellaert, Viorela Ila
+ *  @authors Frank Dellaert
  **/
 
-#include <boost/bind.hpp>
 #include <CppUnitLite/TestHarness.h>
-#include "Key.h"
+
 #include "numericalDerivative.h"
 #include "BearingFactor.h"
 #include "TupleConfig.h"