From 134951f21cf6617acbcaf9f49f33a79c6ff56b6d Mon Sep 17 00:00:00 2001
From: Stephen Williams <stephen.vincent.williams@gmail.com>
Date: Thu, 5 Jul 2012 18:59:10 +0000
Subject: [PATCH] In iSAM2, added a check in the Batch-mode path that checks if
 linearized factors should be stored for performance reasons. Without this,
 factors were cached in batch-mode but not in the normal incremental-mode,
 leading to inconsistency

---
 gtsam/nonlinear/ISAM2.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp
index 7fb23884b..779880dab 100644
--- a/gtsam/nonlinear/ISAM2.cpp
+++ b/gtsam/nonlinear/ISAM2.cpp
@@ -329,11 +329,13 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(
     toc(1,"reorder");
 
     tic(2,"linearize");
-    linearFactors_ = *nonlinearFactors_.linearize(theta_, ordering_);
+    GaussianFactorGraph linearized = *nonlinearFactors_.linearize(theta_, ordering_);
+    if(params_.cacheLinearizedFactors)
+      linearFactors_ = linearized;
     toc(2,"linearize");
 
     tic(5,"eliminate");
-    JunctionTree<GaussianFactorGraph, Base::Clique> jt(linearFactors_, variableIndex_);
+    JunctionTree<GaussianFactorGraph, Base::Clique> jt(linearized, variableIndex_);
     sharedClique newRoot;
     if(params_.factorization == ISAM2Params::CHOLESKY)
       newRoot = jt.eliminate(EliminatePreferCholesky);
@@ -352,7 +354,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(
 
     lastAffectedMarkedCount = markedKeys.size();
     lastAffectedVariableCount = affectedKeysSet->size();
-    lastAffectedFactorCount = linearFactors_.size();
+    lastAffectedFactorCount = linearized.size();
 
     // Reeliminated keys for detailed results
     if(params_.enableDetailedResults) {