clean up

powei-lin · Mar 11, 2024 · f6429ce · f6429ce
1 parent b4f1da0
commit f6429ce
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/src/gauss_newton_optimizer.rs b/src/gauss_newton_optimizer.rs
@@ -1,9 +1,6 @@
-use std::ops::Mul;
-use std::time::{Duration, Instant};
+use std::time::Instant;
 
-use faer::solvers::{SpSolver, SpSolverLstsq};
 use faer_ext::IntoNalgebra;
-use nalgebra as na;
 
 use crate::{linear::sparse_cholesky, optimizer};
 pub struct GaussNewtonOptimizer {}
@@ -31,6 +28,6 @@ impl optimizer::Optimizer for GaussNewtonOptimizer {
             let dx_na = dx.as_ref().into_nalgebra().column(0).clone_owned();
             self.apply_dx(&dx_na, &mut params, &problem.variable_name_to_col_idx_dict);
         }
-        return params;
+        params
     }
 }
diff --git a/src/linear.rs b/src/linear.rs
@@ -1,6 +1,7 @@
-use faer::prelude::SpSolver;
 use std::ops::Mul;
 
+use faer::prelude::SpSolver;
+
 pub fn sparse_cholesky(
     residuals: &faer::Mat<f64>,
     jacobians: &faer::sparse::SparseColMat<usize, f64>,