diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp
index 423a576c1..3dc0b430d 100644
--- a/gtsam/nonlinear/ISAM2.cpp
+++ b/gtsam/nonlinear/ISAM2.cpp
@@ -552,7 +552,8 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(const FastSet<Index>& mark
 /* ************************************************************************* */
 ISAM2Result ISAM2::update(
     const NonlinearFactorGraph& newFactors, const Values& newTheta, const FastVector<size_t>& removeFactorIndices,
-    const boost::optional<FastMap<Key,int> >& constrainedKeys, const boost::optional<FastList<Key> >& noRelinKeys, bool force_relinearize) {
+    const boost::optional<FastMap<Key,int> >& constrainedKeys, const boost::optional<FastList<Key> >& noRelinKeys,
+    const boost::optional<FastList<Key> >& extraReelimKeys, bool force_relinearize) {
 
   const bool debug = ISDEBUG("ISAM2 update");
   const bool verbose = ISDEBUG("ISAM2 update verbose");
@@ -648,6 +649,12 @@ ISAM2Result ISAM2::update(
     FastSet<Index> markedRemoveKeys = Impl::IndicesFromFactors(ordering_, removeFactors); // Get keys involved in removed factors
     markedKeys.insert(markedRemoveKeys.begin(), markedRemoveKeys.end()); // Add to the overall set of marked keys
   }
+  // Also mark any provided extra re-eliminate keys
+  if(extraReelimKeys) {
+    BOOST_FOREACH(Key key, *extraReelimKeys) {
+      markedKeys.insert(ordering_.at(key));
+    }
+  }
 
   // Observed keys for detailed results
   if(params_.enableDetailedResults) {
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 71a07e228..3b4bbaa48 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -544,12 +544,17 @@ public:
    * (Params::relinearizeSkip).
    * @param constrainedKeys is an optional map of keys to group labels, such that a variable can
    * be constrained to a particular grouping in the BayesTree
+   * @param noRelinKeys is an optional set of nonlinear keys that iSAM2 will hold at a constant linearization
+   * point, regardless of the size of the linear delta
+   * @param extraReelimKeys is an optional set of nonlinear keys that iSAM2 will re-eliminate, regardless
+   * of the size of the linear delta. This allows the provided keys to be reordered.
    * @return An ISAM2Result struct containing information about the update
    */
   GTSAM_EXPORT ISAM2Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
       const FastVector<size_t>& removeFactorIndices = FastVector<size_t>(),
       const boost::optional<FastMap<Key,int> >& constrainedKeys = boost::none,
       const boost::optional<FastList<Key> >& noRelinKeys = boost::none,
+      const boost::optional<FastList<Key> >& extraReelimKeys = boost::none,
       bool force_relinearize = false);
 
   /** Marginalize out variables listed in leafKeys.  These keys must be leaves