1 files changed, 3 insertions, 15 deletions
diff --git a/tensor.hpp b/tensor.hpp
index aa33069..fc99042 100644
--- a/tensor.hpp
+++ b/tensor.hpp
@@ -111,27 +111,15 @@ Tensor<Scalar, p> plantState(const Tensor<Scalar, p>& J, const Vector<Scalar>& z
 }
 
 template <class Scalar>
-Matrix<Scalar> contractDown(const Tensor<Scalar, 2>& J, const Vector<Scalar>& z) {
-  return Eigen::Map<const Matrix<Scalar>>(J.data(), z.size(), z.size());
+Tensor<Scalar, 3> contractDown(const Tensor<Scalar, 3>& J, const Vector<Scalar>& z) {
+  return J;
 }
 
 const std::array<Eigen::IndexPair<int>, 1> ip00 = {Eigen::IndexPair<int>(0, 0)};
 
 template <class Scalar, int r>
-Matrix<Scalar> contractDown(const Tensor<Scalar, r>& J, const Vector<Scalar>& z) {
+Tensor<Scalar, 3> contractDown(const Tensor<Scalar, r>& J, const Vector<Scalar>& z) {
   Tensor<Scalar, 1> zT = Eigen::TensorMap<Tensor<const Scalar, 1>>(z.data(), {z.size()});
   Tensor<Scalar, r - 1> Jz = J.contract(zT, ip00);
   return contractDown(Jz, z);
 }
-
-template <int f, class Scalar>
-Tensor<Scalar, f> contractDownTo(const Tensor<Scalar, f>& J, const Vector<Scalar>& z) {
-  return J;
-}
-
-template <int f, class Scalar, int r>
-Tensor<Scalar, f> contractDownTo(const Tensor<Scalar, r>& J, const Vector<Scalar>& z) {
-  Tensor<Scalar, 1> zT = Eigen::TensorMap<Tensor<const Scalar, 1>>(z.data(), {z.size()});
-  Tensor<Scalar, r - 1> Jz = J.contract(zT, ip00);
-  return contractDownTo<f>(Jz, z);
-}