From 3ebd68e5436011d8f6f086983e26efea264a7571 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?St=C3=A9phane=20Caron?= <stephane.caron@inria.fr>
Date: Mon, 18 Mar 2024 11:17:51 +0100
Subject: [PATCH] Check if J_cols computation is necessary

See https://github.com/stack-of-tasks/pinocchio/issues/2171
---
 include/pinocchio/algorithm/aba.hxx | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/include/pinocchio/algorithm/aba.hxx b/include/pinocchio/algorithm/aba.hxx
index 68e6763a17..70b59fe770 100644
--- 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();
     }