unnessary variable removed

jmeidow · jmeidow · commit 4ce69b05da3f · 2026-03-17T08:40:18.000+01:00
diff --git a/src/adjustment.cpp b/src/adjustment.cpp
@@ -83,11 +83,10 @@ void AdjustmentFramework::update( const VectorXd &x)
         // m.segment(idx3,3).normalize();
 
         // (2) via retraction ......................................................
-        const Vector3d l0 = l0_.segment(idx3,3);
-        const Vector3d v = null( l0 ) * x.segment(2 * s, 2);
+        const Vector3d p = l0_.segment(idx3,3);
+        const Vector3d v = null(p) * x.segment(2 * s, 2);
         const double nv = v.norm();
         if ( nv > T_zero ) {
-            const Vector3d p = l0_.segment(idx3, 3);
             l0_.segment( idx3,3) = cos( nv)*p +sin(nv)*v/nv;
         }
     }

Original file line number	Diff line number	Diff line change
`@@ -83,11 +83,10 @@ void AdjustmentFramework::update( const VectorXd &x)`
`83`	`83`	`// m.segment(idx3,3).normalize();`
`84`	`84`
`85`	`85`	`// (2) via retraction ......................................................`
`86`		`- const Vector3d l0 = l0_.segment(idx3,3);`
`87`		`- const Vector3d v = null( l0 ) * x.segment(2 * s, 2);`
	`86`	`+ const Vector3d p = l0_.segment(idx3,3);`
	`87`	`+ const Vector3d v = null(p) * x.segment(2 * s, 2);`
`88`	`88`	`const double nv = v.norm();`
`89`	`89`	`if ( nv > T_zero ) {`
`90`		`- const Vector3d p = l0_.segment(idx3, 3);`
`91`	`90`	`l0_.segment( idx3,3) = cos( nv)p +sin(nv)v/nv;`
`92`	`91`	`}`
`93`	`92`	`}`