diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 0c05d15c4..b0f05a3ee 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -561,15 +561,15 @@ ISAM2Result ISAM2::update( if(debug) delta_.print("delta_: "); //toc(9,"solve"); + result.cliques = this->nodes().size(); + deltaDoglegUptodate_ = false; + deltaUptodate_ = false; + tic(10,"evaluate error after"); if(params_.evaluateNonlinearError) result.errorAfter.reset(nonlinearFactors_.error(calculateEstimate())); toc(10,"evaluate error after"); - result.cliques = this->nodes().size(); - deltaDoglegUptodate_ = false; - deltaUptodate_ = false; - return result; }