diff --git a/common/math/geometry/include/geometry/quaternion/operator.hpp b/common/math/geometry/include/geometry/quaternion/operator.hpp
index 4839a282333..848e1d8332c 100644
--- a/common/math/geometry/include/geometry/quaternion/operator.hpp
+++ b/common/math/geometry/include/geometry/quaternion/operator.hpp
@@ -65,34 +65,6 @@ auto operator*(const T & a, const U & b)
   return v;
 }
 
-template <
-  typename T, typename U,
-  std::enable_if_t<std::conjunction_v<IsLikeQuaternion<T>, IsLikeVector3<U>>, std::nullptr_t> =
-    nullptr>
-auto operator*(const T & rotation, const U & vector)
-{
-  T vector_as_quaternion;
-  vector_as_quaternion.x = vector.x;
-  vector_as_quaternion.y = vector.y;
-  vector_as_quaternion.z = vector.z;
-  vector_as_quaternion.w = 0.0;
-
-  T inverse_rotation = rotation;
-  inverse_rotation.x = -rotation.x;
-  inverse_rotation.y = -rotation.y;
-  inverse_rotation.z = -rotation.z;
-  inverse_rotation.w = rotation.w;
-
-  T rotated_quaternion = rotation * vector_as_quaternion * inverse_rotation;
-
-  U rotated_vector;
-  rotated_vector.x = vector_as_quaternion.x;
-  rotated_vector.y = vector_as_quaternion.y;
-  rotated_vector.z = vector_as_quaternion.z;
-
-  return rotated_vector;
-}
-
 template <
   typename T, typename U,
   std::enable_if_t<std::conjunction_v<IsLikeQuaternion<T>, IsLikeQuaternion<U>>, std::nullptr_t> =