From 0c14c11c857a61c5825d4d12a5323c9282fbf670 Mon Sep 17 00:00:00 2001
From: Mustafa Mukadam <mmukadam3@gatech.edu>
Date: Fri, 19 Jan 2018 16:45:28 -0500
Subject: [PATCH] fix optional jacobian check

---
 gtsam/slam/BetweenFactor.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index e6aab45da..f3fd49fa7 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -95,7 +95,7 @@ namespace gtsam {
       typename traits<T>::ChartJacobian::Jacobian Hlocal;
       Vector rval = traits<T>::Local(measured_, hx, boost::none, (H1 || H2) ? &Hlocal : 0);
       if (H1) *H1 = Hlocal * (*H1);
-      if (H1) *H2 = Hlocal * (*H2);
+      if (H2) *H2 = Hlocal * (*H2);
       return rval;
 #else
       return traits<T>::Local(measured_, hx);