From c250f1d732f2d234ceb24c8a644a46134fcf8363 Mon Sep 17 00:00:00 2001
From: nsrinivasan7 <natesh.rvce@gmail.com>
Date: Sun, 30 Nov 2014 17:06:03 -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 08279450e..8be5e9d93 100644
--- a/gtsam/geometry/Rot2.cpp
+++ b/gtsam/geometry/Rot2.cpp
@@ -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;
 }