Remove old TODOs

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

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