From 8b6bb80cec649b11b388494ec8211c304e917864 Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Sun, 16 Feb 2014 16:05:01 -0500
Subject: [PATCH] small fix

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

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 9bc38822e..e5a503b10 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -123,7 +123,7 @@ void LevenbergMarquardtOptimizer::iterate() {
         Matrix A = Matrix::Identity(dim, dim);
         //Replace the identity matrix with diagonal of Hessian
         if (params_.diagonalDamping) {
-           A.diagonal() = hessianDiagonal.at(key_value.key)*state_.lambda;
+           A.diagonal() = hessianDiagonal.at(key_value.key);
            for (int aa=0; aa<dim; aa++)
            {
         	   A(aa,aa)=sqrt(A(aa,aa));