From 2c5135e5f97bad5e652f8a31dae9752a7f555e3a Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 14 Nov 2011 21:39:42 +0000
Subject: [PATCH] Fixed bug in relinarized variable count

---
 gtsam/nonlinear/ISAM2-inl.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/nonlinear/ISAM2-inl.h b/gtsam/nonlinear/ISAM2-inl.h
index 383951e6d..8a724cbcf 100644
--- a/gtsam/nonlinear/ISAM2-inl.h
+++ b/gtsam/nonlinear/ISAM2-inl.h
@@ -490,14 +490,14 @@ ISAM2Result ISAM2<Conditional, Values>::update(
       Impl::ExpmapMasked(theta_, delta_, ordering_, markedRelinMask, delta_);
     toc(6,"expmap");
 
-    result.variablesRelinearized = markedRelinMask.size();
+    result.variablesRelinearized = markedKeys.size();
 
 #ifndef NDEBUG
     lastRelinVariables_ = markedRelinMask;
 #endif
   } else {
-#ifndef NDEBUG
     result.variablesRelinearized = 0;
+#ifndef NDEBUG
     lastRelinVariables_ = vector<bool>(ordering_.nVars(), false);
 #endif
   }