From 198238514ffae5052d7c537d285120630d51d14c Mon Sep 17 00:00:00 2001
From: Keenon Werling <keenonwerling@gmail.com>
Date: Thu, 14 Nov 2024 14:49:07 -0800
Subject: [PATCH] Updating AccelerationMinimizer to not do an unnecessary QR
 factorization

---
 dart/utils/AccelerationMinimizer.cpp | 8 --------
 dart/utils/AccelerationMinimizer.hpp | 2 --
 2 files changed, 10 deletions(-)

diff --git a/dart/utils/AccelerationMinimizer.cpp b/dart/utils/AccelerationMinimizer.cpp
index 03e375467..8b081a64e 100644
--- a/dart/utils/AccelerationMinimizer.cpp
+++ b/dart/utils/AccelerationMinimizer.cpp
@@ -82,14 +82,6 @@ AccelerationMinimizer::AccelerationMinimizer(
       = Eigen::SparseMatrix<s_t>(accTimesteps + 4 + mTimesteps, mTimesteps);
   mB_sparse.setFromTriplets(tripletList.begin(), tripletList.end());
   mB_sparse.makeCompressed();
-  mB_sparseSolver.analyzePattern(mB_sparse);
-  mB_sparseSolver.factorize(mB_sparse);
-  if (mB_sparseSolver.info() != Eigen::Success)
-  {
-    std::cout << "mB_sparseSolver.factorize(mB_sparse) error: "
-              << mB_sparseSolver.lastErrorMessage() << std::endl;
-  }
-  assert(mB_sparseSolver.info() == Eigen::Success);
 }
 
 Eigen::VectorXs AccelerationMinimizer::minimize(Eigen::VectorXs series)
diff --git a/dart/utils/AccelerationMinimizer.hpp b/dart/utils/AccelerationMinimizer.hpp
index c70b978c3..143e27a0a 100644
--- a/dart/utils/AccelerationMinimizer.hpp
+++ b/dart/utils/AccelerationMinimizer.hpp
@@ -43,8 +43,6 @@ class AccelerationMinimizer
   bool mDebugIterationBackoff;
   s_t mConvergenceTolerance;
   Eigen::SparseMatrix<s_t> mB_sparse;
-  Eigen::SparseQR<Eigen::SparseMatrix<s_t>, Eigen::NaturalOrdering<int>>
-      mB_sparseSolver;
 };
 
 } // namespace utils