From 646a4b7f0ff4a9c327ab5ada04f07f66e6fee77f Mon Sep 17 00:00:00 2001
From: yetongumich <yetong@umich.edu>
Date: Sun, 5 Apr 2020 19:00:09 -0400
Subject: [PATCH] change unweightedwhiten back

---
 gtsam/linear/NoiseModel.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 73484799f..a9f06693a 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -731,7 +731,7 @@ namespace gtsam {
       virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const;
 
       virtual Vector unweightedWhiten(const Vector& v) const {
-        return noise_->whiten(v);
+        return noise_->unweightedWhiten(v);
       }
       virtual double weight(const Vector& v) const {
         // Todo(mikebosse): make the robust weight function input a vector.