From 6c3f99f31dda117efffdd0ef3e8225f19ee4f3d4 Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Mon, 2 Oct 2023 17:56:54 -0400
Subject: [PATCH] Remove unnecessary copies

---
 src/ik_gradient.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/ik_gradient.cpp b/src/ik_gradient.cpp
index 17260a8..6c4a6ca 100644
--- 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];
     }