From 7bf0d8ebf1620d19cb9e9944235f3aa05b52cd3d Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Mon, 27 Jan 2014 22:56:21 -0500
Subject: [PATCH] commented functionality - not working yet

---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index ed91112f7..04159df04 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -163,13 +163,14 @@ void LevenbergMarquardtOptimizer::iterate() {
       // linearizedCostChange  = oldCost - newLinearizedCost = f'f/2  - 1/2 [ f'f + 2f'J * step + step' * J' * J * step]
       //  = -f'J * step - step' * J' * J * step / 2 = -(f' + modelResidual') * (modelResidual)
       // (with modelResidual = J * step)
-      Errors modelResidualList = (*linear) * delta; // modelResidual = A * delta
+      /* Errors modelResidualList = (*linear) * delta; // modelResidual = A * delta
       Vector modelResidual = concatVectors(modelResidualList); // TODO: is this an ordered list?
       Vector residuals = - linear->jacobian().second; // TODO: optimize this computation, TODO: is there a minus sign?
       double linearizedCostChange =  dot(- modelResidual, (residuals + modelResidual / 2.0) );
 
       // Measure of mismatch between original (usually nonlinear) system and its linearized version
       modelMismatch = costChange / linearizedCostChange;
+      */
 
       if (error <= state_.error) {
         state_.values.swap(newValues);