diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
index c0dab4d83..1e1e39e10 100644
--- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
+++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
@@ -126,7 +126,7 @@ void ConcurrentBatchFilter::synchronize(const NonlinearFactorGraph& summarizedFa
 
   if(factors_.size() > 0) {
     // Perform an optional optimization on the to-be-sent-to-the-smoother factors
-    if(true) {
+    if(relin_) {
       // Create ordering and delta
       Ordering ordering = *graph.orderingCOLAMD(values);
       VectorValues delta = values.zeroVectors(ordering);
diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
index df05bdc51..9a7690786 100644
--- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
+++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
@@ -54,7 +54,7 @@ public:
   };
 
   /** Default constructor */
-  ConcurrentBatchFilter(const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) : parameters_(parameters) {};
+  ConcurrentBatchFilter(const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams(), bool relin = true) : parameters_(parameters), relin_(relin) {};
 
   /** Default destructor */
   virtual ~ConcurrentBatchFilter() {};
@@ -122,6 +122,7 @@ public:
 protected:
 
   LevenbergMarquardtParams parameters_;  ///< LM parameters
+  bool relin_;
   NonlinearFactorGraph factors_;  ///< The set of all factors currently in the filter
   Values theta_;  ///< Current linearization point of all variables in the filter
   Ordering ordering_; ///< The current ordering used to calculate the linear deltas