Remove unnecessary copies

PickNikRobotics · Oct 2, 2023 · 6c3f99f · 6c3f99f
1 parent c5051b5
commit 6c3f99f
Showing 1 changed file with 0 additions and 3 deletions.
diff --git a/src/ik_gradient.cpp b/src/ik_gradient.cpp
@@ -25,7 +25,6 @@ auto step(GradientIk& self, Robot const& robot, CostFn const& cost_fn, double st
     auto const count = self.local.size();
 
     // compute gradient direction
-    self.working = self.local;
     for (size_t i = 0; i < count; ++i) {
         // test negative displacement
         self.working[i] = self.local[i] - step_size;
@@ -55,8 +54,6 @@ auto step(GradientIk& self, Robot const& robot, CostFn const& cost_fn, double st
                    [&](auto value) { return value * f; });
 
     // initialize line search
-    self.working = self.local;
-
     for (size_t i = 0; i < count; ++i) {
         self.working[i] = self.local[i] - self.gradient[i];
     }