From 80de8c43a12970410f4e8377cbf505281c9699bc Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 16 Aug 2013 19:42:25 +0000
Subject: [PATCH] Fixed LinearContainerFactor linearization - now passes tests

---
 gtsam/nonlinear/LinearContainerFactor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/LinearContainerFactor.cpp b/gtsam/nonlinear/LinearContainerFactor.cpp
index 6fda8e7ed..238fc9d41 100644
--- a/gtsam/nonlinear/LinearContainerFactor.cpp
+++ b/gtsam/nonlinear/LinearContainerFactor.cpp
@@ -124,7 +124,7 @@ GaussianFactor::shared_ptr LinearContainerFactor::linearize(const Values& c) con
     HessianFactor::shared_ptr hesFactor = boost::dynamic_pointer_cast<HessianFactor>(linFactor);
     size_t dim = hesFactor->linearTerm().size();
     Eigen::Block<HessianFactor::Block> Gview = hesFactor->info().block(0, 0, dim, dim);
-    Vector deltaVector = delta.vector();
+    Vector deltaVector = delta.vector(keys());
     Vector G_delta = Gview.selfadjointView<Eigen::Upper>() * deltaVector;
     hesFactor->constantTerm() += deltaVector.dot(G_delta) - 2.0 * deltaVector.dot(hesFactor->linearTerm());
     hesFactor->linearTerm() -= G_delta;