From 5c86ad7e49eae4333deef017509869f39e3a326b Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sat, 22 Feb 2014 17:13:13 -0500
Subject: [PATCH 1/2] Fixed examples not being built due to branch
 "adding-scripts-simplify"

---
 CMakeLists.txt | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c6f5852b9..d03f11ede 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -295,9 +295,7 @@ add_subdirectory(gtsam)
 add_subdirectory(tests)
 
 # Build examples
-if (GTSAM_BUILD_EXAMPLES)
-    add_subdirectory(examples)
-endif(GTSAM_BUILD_EXAMPLES)
+add_subdirectory(examples)
 
 # Matlab toolbox
 if (GTSAM_INSTALL_MATLAB_TOOLBOX)

From 2fd94015581ffacd46580976bf63c9b05b2a700f Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sat, 22 Feb 2014 17:13:32 -0500
Subject: [PATCH 2/2] Added dogleg mode switch in SolverComparer

---
 examples/SolverComparer.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp
index ec980b960..2f0c71a40 100644
--- a/examples/SolverComparer.cpp
+++ b/examples/SolverComparer.cpp
@@ -95,6 +95,7 @@ int lastStep;
 int nThreads;
 int relinSkip;
 bool incremental;
+bool dogleg;
 bool batch;
 bool compare;
 bool perturb;
@@ -126,6 +127,7 @@ int main(int argc, char *argv[]) {
     ("threads", po::value<int>(&nThreads)->default_value(-1), "Number of threads, or -1 to use all processors")
     ("relinSkip", po::value<int>(&relinSkip)->default_value(10), "Fluid relinearization check every arg steps")
     ("incremental", "Run in incremental mode using ISAM2 (default)")
+    ("dogleg", "When in incremental mode, solve with Dogleg instead of Gauss-Newton in iSAM2")
     ("batch", "Run in batch mode, requires an initialization from --read-solution")
     ("compare", po::value<vector<string> >()->multitoken(), "Compare two solution files")
     ("perturb", po::value<double>(&perturbationNoise), "Perturb a solution file with the specified noise")
@@ -141,6 +143,7 @@ int main(int argc, char *argv[]) {
   stats = (vm.count("stats") > 0);
   const int modesSpecified = int(batch) + int(compare) + int(perturb) + int(stats);
   incremental = (vm.count("incremental") > 0 || modesSpecified == 0);
+  dogleg = (vm.count("dogleg") > 0);
   if(compare) {
     const vector<string>& compareFiles = vm["compare"].as<vector<string> >();
     if(compareFiles.size() != 2) {
@@ -233,6 +236,8 @@ int main(int argc, char *argv[]) {
 void runIncremental()
 {
   ISAM2Params params;
+  if(dogleg)
+    params.optimizationParams = ISAM2DoglegParams();
   params.relinearizeSkip = relinSkip;
   params.enablePartialRelinearizationCheck = true;
   ISAM2 isam2(params);