diff --git a/crosbot/include/crosbot/geometry/poses.hpp b/crosbot/include/crosbot/geometry/poses.hpp
index 00427f25c9cf2bec7ebc10bb222b73a23dcf70d2..39ea11cc24828b1244253174cfd88dad228ac678 100644
--- a/crosbot/include/crosbot/geometry/poses.hpp
+++ b/crosbot/include/crosbot/geometry/poses.hpp
@@ -333,28 +333,6 @@ public:
 };
 #endif
 
-/**
- * Methods to transform between Poses and btTransforms
- */
-//inline void getPoseFromTransform(const btTransform& trans, geometry_msgs::Pose& pose) {
-//    const btVector3& pos = trans.getOrigin();
-//    pose.position.x = pos.x();
-//    pose.position.y = pos.y();
-//    pose.position.z = pos.z();
-//    btQuaternion q =  trans.getRotation();
-//    pose.orientation.x = q.x();
-//    pose.orientation.y = q.y();
-//    pose.orientation.z = q.z();
-//    pose.orientation.w = q.w();
-//}
-//
-//inline void getTransformFromPose(const geometry_msgs::Pose& pose, btTransform& trans) {
-//    btVector3 pos(pose.position.x, pose.position.y, pose.position.z);
-//    trans.setOrigin(pos);
-//    btQuaternion q(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
-//    trans.setRotation(q);
-//}
-
 } // namespace crosbot