From a56c6e728bccf63aad983f351686398cd93f7711 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 19 Jul 2015 23:39:44 -0700
Subject: [PATCH] Small refactor

---
 gtsam/geometry/Rot3M.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index 18628aec3..324c05ae4 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -131,10 +131,8 @@ Matrix3 Rot3::transpose() const {
 /* ************************************************************************* */
 Point3 Rot3::rotate(const Point3& p,
     OptionalJacobian<3,3> H1,  OptionalJacobian<3,3> H2) const {
-  if (H1 || H2) {
-      if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z());
-      if (H2) *H2 = rot_;
-    }
+  if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z());
+  if (H2) *H2 = rot_;
   return Point3(rot_ * p.vector());
 }