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removed unecessary code

release/4.3a0
nsrinivasan7 2014-11-30 17:06:03 -05:00
parent ca9c66073f
commit c250f1d732
1 changed files with 1 additions and 5 deletions
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6
gtsam/geometry/Rot2.cpp
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@ -82,11 +82,7 @@ Matrix2 Rot2::transpose() const {
Point2 Rot2::rotate(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_;
}
if (H1) *H1 << -q.y(), q.x();
if (H2) *H2 = matrix();
return q;
}