Check if J_cols computation is necessary

See #2171
stack-of-tasks · Mar 18, 2024 · 3ebd68e · 3ebd68e
1 parent 55b4037
commit 3ebd68e
Showing 1 changed file with 0 additions and 4 deletions.
diff --git a/include/pinocchio/algorithm/aba.hxx b/include/pinocchio/algorithm/aba.hxx
@@ -307,10 +307,6 @@ namespace pinocchio
       else
         data.oMi[i] = data.liMi[i];
 
-      typedef typename SizeDepType<JointModel::NV>::template ColsReturn<typename Data::Matrix6x>::Type ColsBlock;
-      ColsBlock J_cols = jmodel.jointCols(data.J);
-      J_cols = data.oMi[i].act(jdata.S());
-
       data.Yaba[i] = model.inertias[i].matrix();
     }