Remove allocating code that is no longer necessary on rotations.

JuliaManifolds · Dec 24, 2023 · f8080e2 · f8080e2
1 parent 6244a6a
commit f8080e2
Showing 1 changed file with 0 additions and 6 deletions.
diff --git a/src/manifolds/Rotations.jl b/src/manifolds/Rotations.jl
@@ -375,12 +375,6 @@ end
 function parallel_transport_direction!(::Rotations{TypeParameter{Tuple{2}}}, Y, p, X, d)
     return copyto!(Y, X)
 end
-function parallel_transport_direction(M::Rotations, p, X, d)
-    expdhalf = exp(d / 2)
-    q = exp(M, p, d)
-    return transpose(q) * p * expdhalf * X * expdhalf
-end
-parallel_transport_direction(::Rotations{TypeParameter{Tuple{2}}}, p, X, d) = X
 
 function parallel_transport_to!(M::Rotations, Y, p, X, q)
     d = log(M, p, q)