Merge pull request RobotLocomotion#1043 from RussTedrake/quick_fix

remove unused lines in QPCommon
vcmman · Apr 24, 2015 · 3dc299e · 3dc299e
2 parents 5bc13e8 + e6f58dd
commit 3dc299e
Showing 1 changed file with 0 additions and 3 deletions.
diff --git a/systems/controllers/QPCommon.cpp b/systems/controllers/QPCommon.cpp
@@ -655,9 +655,6 @@ int setupAndSolveQP(NewQPControllerData *pdata, std::shared_ptr<drake::lcmt_qp_c
 
   // add in body spatial equality constraints
   // VectorXd body_vdot;
-  Vector4d orig1 = Vector4d::Zero();
-  orig1(3) = 1.0;
-  Vector3d orig = Vector3d::Zero();
   int equality_ind = 6+neps;
   MatrixXd Jb(6,nq);
   Vector6d Jbdotv;