From 3470361142cf56bbc5e0f7e5320da40add4be6fb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 22 Jun 2022 08:23:27 +0200
Subject: [PATCH] Remove old TODOs
---
include/imu/math/imu2d_tools.h | 2 +-
include/imu/math/imu_tools.h | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/imu/math/imu2d_tools.h b/include/imu/math/imu2d_tools.h
index f579ae2dc..316405e50 100644
--- a/include/imu/math/imu2d_tools.h
+++ b/include/imu/math/imu2d_tools.h
@@ -257,7 +257,7 @@ inline void compose(const MatrixBase<D1>& d1,
// Matrix3d dR1 = q2R(d1.at('O')); //dq1.matrix(); // First Delta, DR
// Matrix3d dR2 = q2R(d2.at('O')); //dq2.matrix(); // Second delta, dR
//
-// // Jac wrt first delta // TODO find optimal way to re-use memory allocation!!!
+// // Jac wrt first delta
// J_sum_d1.clear();
// J_sum_d1.emplace('P','P', Matrix3d::Identity()); // dDp'/dDp = I
// J_sum_d1.emplace('P','O', - dR1 * skew(d2.at('P'))) ; // dDp'/dDo
diff --git a/include/imu/math/imu_tools.h b/include/imu/math/imu_tools.h
index 61cc6b236..c5744fbae 100644
--- a/include/imu/math/imu_tools.h
+++ b/include/imu/math/imu_tools.h
@@ -282,7 +282,7 @@ inline void compose(const VectorComposite& d1,
Matrix3d dR1 = q2R(d1.at('O')); //dq1.matrix(); // First Delta, DR
Matrix3d dR2 = q2R(d2.at('O')); //dq2.matrix(); // Second delta, dR
- // Jac wrt first delta // TODO find optimal way to re-use memory allocation!!!
+ // Jac wrt first delta
J_sum_d1.clear();
J_sum_d1.emplace('P','P', Matrix3d::Identity()); // dDp'/dDp = I
J_sum_d1.emplace('P','O', - dR1 * skew(d2.at('P'))) ; // dDp'/dDo
--
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