From a90c5797e0c4a2310e273753620402e64404593b Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Wed, 26 Feb 2014 12:56:41 -0500
Subject: [PATCH] lower bound on lambda in the right place

---
 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 5a3fb49e2..f9c65c4cf 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -99,10 +99,10 @@ void LevenbergMarquardtOptimizer::decreaseLambda(double stepQuality){
   }else{
     // CHECK_GT(step_quality, 0.0);
     state_.lambda *= std::max(1.0 / 3.0, 1.0 - pow(2.0 * stepQuality - 1.0, 3));
-    state_.lambda = std::max(params_.lambdaLowerBound, state_.lambda);
     params_.lambdaFactor = 2.0;
     // reuse_diagonal_ = false;
   }
+  state_.lambda = std::max(params_.lambdaLowerBound, state_.lambda);
 }
 
 /* ************************************************************************* */