1 files changed, 1 insertions, 23 deletions
diff --git a/opentrack/pose.hpp b/opentrack/pose.hpp
index 41e984f5..93d467a9 100644
--- a/opentrack/pose.hpp
+++ b/opentrack/pose.hpp
@@ -2,7 +2,6 @@
 
 #include <utility>
 #include <algorithm>
-#include "./quat.hpp"
 #include "./plugin-api.hpp"
 
 class Pose {
@@ -13,32 +12,11 @@ private:
 
     double axes[6];
 public:
-    Pose() : axes {0,0,0, 0,0,0 } {}
+    Pose() : axes {0,0,0, 0,0,0} {}
 
     inline operator double*() { return axes; }
     inline operator const double*() const { return axes; }
 
     inline double& operator()(int i) { return axes[i]; }
     inline double operator()(int i) const { return axes[i]; }
-
-    Quat quat() const
-    {
-        return Quat(axes[Yaw]*d2r, axes[Pitch]*d2r, axes[Roll]*d2r);
-    }
-
-    static Pose fromQuat(const Quat& q)
-    {
-        Pose ret;
-        q.to_euler_degrees(ret(Yaw), ret(Pitch), ret(Roll));
-        return ret;
-    }
-
-    Pose operator&(const Pose& B) const
-    {
-        const Quat q = quat() * B.quat().inv();
-        Pose ret = fromQuat(q);
-        for (int i = TX; i < TX + 3; i++)
-            ret(i) = axes[i] - B.axes[i];
-        return ret;
-    }
 };