From 2236f75527abdaef06755fe04a58f1628cdf2b9d Mon Sep 17 00:00:00 2001
From: Kai Ni <nikai97@gmail.com>
Date: Sun, 6 Jun 2010 17:42:56 +0000
Subject: [PATCH] linearPrepare for GaussianNewton

---
 cpp/NonlinearOptimizer-inl.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cpp/NonlinearOptimizer-inl.h b/cpp/NonlinearOptimizer-inl.h
index 24fd15db9..903f045ff 100644
--- a/cpp/NonlinearOptimizer-inl.h
+++ b/cpp/NonlinearOptimizer-inl.h
@@ -68,7 +68,8 @@ namespace gtsam {
 	template<class G, class C, class L, class S, class W>
 	VectorConfig NonlinearOptimizer<G, C, L, S, W>::linearizeAndOptimizeForDelta() const {
 		boost::shared_ptr<L> linearized = solver_->linearize(*graph_, *config_);
-		return solver_->optimize(*linearized);
+		NonlinearOptimizer prepared(graph_, config_, solver_->prepareLinear(*linearized), error_, lambda_);
+		return prepared.solver_->optimize(*linearized);
 	}
 
 	/* ************************************************************************* */