From 993622e915b1d954db95d63f7fa0fa9ee746e594 Mon Sep 17 00:00:00 2001
From: Sameer Agarwal <sameeragarwal@google.com>
Date: Fri, 14 Nov 2014 07:31:31 -0800
Subject: [PATCH] Minor fixes.

1. Remove an unused private member in TukeyLoss.
2. The test for RotationMatrixToAngle had an indexing error.

Change-Id: I7decc9448ae0abef53aa435005f739e9e0931e80
---
 include/ceres/loss_function.h   | 3 +--
 internal/ceres/rotation_test.cc | 9 +++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/include/ceres/loss_function.h b/include/ceres/loss_function.h
index 4408dc95f..923f4bc7c 100644
--- a/include/ceres/loss_function.h
+++ b/include/ceres/loss_function.h
@@ -285,11 +285,10 @@ class CERES_EXPORT TolerantLoss : public LossFunction {
 // At s = 0: rho = [0, 0.5, -1 / a^2]
 class CERES_EXPORT TukeyLoss : public ceres::LossFunction {
  public:
-  explicit TukeyLoss(double a) : a_(a), a_squared_(a * a) { }
+  explicit TukeyLoss(double a) : a_squared_(a * a) { }
   virtual void Evaluate(double, double*) const;
 
  private:
-  const double a_;
   const double a_squared_;
 };
 
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc
index 27a939c0d..2764e6647 100644
--- a/internal/ceres/rotation_test.cc
+++ b/internal/ceres/rotation_test.cc
@@ -1108,10 +1108,11 @@ void CheckRotationMatrixToAngleAxisRoundTrip(const double theta,
 
 TEST(RotationMatrixToAngleAxis, ExhaustiveRoundTrip) {
   const double kMaxSmallAngle = 1e-8;
-  for (int i = 0; i < 1000; ++i) {
-    const double theta = static_cast<double>(i) / 100.0 * 2.0 * kPi;
-    for (int j = 0; j < 1000; ++j) {
-      const double phi = static_cast<double>(j) / 100.0 * kPi;
+  const int kNumSteps = 1000;
+  for (int i = 0; i < kNumSteps; ++i) {
+    const double theta = static_cast<double>(i) / kNumSteps * 2.0 * kPi;
+    for (int j = 0; j < kNumSteps; ++j) {
+      const double phi = static_cast<double>(j) / kNumSteps * kPi;
       // Rotations of angle Pi.
       CheckRotationMatrixToAngleAxisRoundTrip(theta, phi, kPi);
       // Rotation of angle approximately Pi.