From 7fdb85bcbe17bc817844666b7fc2efc907412150 Mon Sep 17 00:00:00 2001 From: Joan Sola <jsola@iri.upc.edu> Date: Sat, 20 Feb 2016 00:46:52 +0100 Subject: [PATCH] Avoid temporal variables --- src/local_parametrization_quaternion.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/local_parametrization_quaternion.cpp b/src/local_parametrization_quaternion.cpp index fa87ae388..b539bdad9 100644 --- a/src/local_parametrization_quaternion.cpp +++ b/src/local_parametrization_quaternion.cpp @@ -31,16 +31,13 @@ bool LocalParametrizationQuaternion::plus(const Eigen::Map<Eigen::VectorXs>& _q, Quaternions dq(AngleAxis<WolfScalar>(angle, axis)); // result as a quaternion - Quaternions qout; if (global_delta_) // the delta is in global reference - qout = dq * Map<const Quaternions>(&_q(0)); + _q_plus_delta_theta = (dq * Map<const Quaternions>(&_q(0))).coeffs(); else // the delta is in local reference - qout = Map<const Quaternions>(&_q(0)) * dq; + _q_plus_delta_theta = (Map<const Quaternions>(&_q(0)) * dq).coeffs(); - // result as a vector map - _q_plus_delta_theta = qout.coeffs(); } else { -- GitLab