diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index bd06c5f8d..8ca12e1f2 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -432,13 +432,6 @@ namespace gtsam {
     return model_ ? model_->whiten(Ax) : Ax;
   }
 
-  /* ************************************************************************* */
-  void JacobianFactor::multiplyHessianAdd(double alpha, const VectorValues& x,
-      VectorValues& y) const {
-    Vector Ax = (*this)*x;
-    transposeMultiplyAdd(alpha,Ax,y);
-  }
-
   /* ************************************************************************* */
   void JacobianFactor::transposeMultiplyAdd(double alpha, const Vector& e,
       VectorValues& x) const
@@ -451,10 +444,17 @@ namespace gtsam {
       pair<VectorValues::iterator, bool> xi = x.tryInsert(keys_[pos], Vector());
       if(xi.second)
         xi.first->second = Vector::Zero(getDim(begin() + pos));
-      gtsam::transposeMultiplyAdd(1.0, Ab_(pos), E, xi.first->second);
+      gtsam::transposeMultiplyAdd(Ab_(pos), E, xi.first->second);
     }
   }
 
+  /* ************************************************************************* */
+  void JacobianFactor::multiplyHessianAdd(double alpha, const VectorValues& x,
+      VectorValues& y) const {
+    Vector Ax = (*this)*x;
+    transposeMultiplyAdd(alpha,Ax,y);
+  }
+
   /* ************************************************************************* */
   VectorValues JacobianFactor::gradientAtZero() const {
     VectorValues g;
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index d6e937769..640b3db6f 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -259,13 +259,13 @@ namespace gtsam {
     /** Return A*x */
     Vector operator*(const VectorValues& x) const;
 
-    /** y += alpha * A'*A*x */
-    void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const;
-
     /** x += A'*e.  If x is initially missing any values, they are created and assumed to start as
      *  zero vectors. */
     void transposeMultiplyAdd(double alpha, const Vector& e, VectorValues& x) const;
 
+    /** y += alpha * A'*A*x */
+    void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const;
+
     /// A'*b for Jacobian
     VectorValues gradientAtZero() const;