From ffd01c7a7db4e8f65d52a882bc23ffe93b86425f Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 18 Jan 2012 21:22:05 +0000
Subject: [PATCH] Removed unneeded TODO's

---
 gtsam/linear/JacobianFactor.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index 27065b9a7..2b9adbec0 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -152,9 +152,7 @@ namespace gtsam {
   /* ************************************************************************* */
   JacobianFactor::JacobianFactor(const GaussianConditional& cg) : GaussianFactor(cg), model_(noiseModel::Diagonal::Sigmas(cg.get_sigmas(), true)), Ab_(matrix_) {
     Ab_.assignNoalias(cg.rsd_);
-    // TODO: permutation for all frontal blocks
     Ab_.range(0,cg.nrFrontals()) = Ab_.range(0,cg.nrFrontals()) * cg.permutation_.transpose();
-    // todo SL: make firstNonzeroCols triangular?
     firstNonzeroBlocks_.resize(cg.get_d().size(), 0); // set sigmas from precisions
     assertInvariants();
   }