From 45cd8e5772a127c542a546de02ae1c53b19155bf Mon Sep 17 00:00:00 2001
From: Michael Kaess <michaelkaess@gmail.com>
Date: Sun, 12 Sep 2010 23:36:29 +0000
Subject: [PATCH] default 10 step relin

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

diff --git a/inference/ISAM2-inl.h b/inference/ISAM2-inl.h
index af1ed01b2..23668360c 100644
--- a/inference/ISAM2-inl.h
+++ b/inference/ISAM2-inl.h
@@ -19,7 +19,7 @@ using namespace boost::assign;
 #include <gtsam/inference/ISAM2.h>
 
 
-#if 0 // timing - note: adds some time when applied in inner loops
+#if 1 // timing - note: adds some time when applied in inner loops
 #include <sys/time.h>
 // simple class for accumulating execution timing information by name
 class Timing {
@@ -407,7 +407,7 @@ void ISAM2<Conditional, Config>::update(
 #endif
 
 	VectorConfig deltaMarked;
-	if (relinearize) { // && count%10 == 0) { // todo: every n steps
+	if (relinearize && count%10 == 0) { // todo: every n steps
 		tic("step4");
 		// 4. Mark keys in \Delta above threshold \beta: J=\{\Delta_{j}\in\Delta|\Delta_{j}\geq\beta\}.
 		list<Symbol> markedRelin;