From ae958ad0f523cde00516d566b6c3bd1c0c83168c Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 19 Aug 2013 22:07:32 +0000
Subject: [PATCH] Fixed testConcurrentIncrementalFilter

---
 .../nonlinear/tests/testConcurrentIncrementalFilter.cpp      | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
index 143c79d83..eeb6a8563 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
@@ -31,9 +31,6 @@
 #include <gtsam/base/TestableAssertions.h>
 #include <CppUnitLite/TestHarness.h>
 
-#include <tbb/tbb.h>
-tbb::task_scheduler_init init(1);
-
 using namespace std;
 using namespace gtsam;
 
@@ -514,7 +511,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_2 )
   partialGraph.push_back(BetweenFactor<Pose3>(1, 2, poseOdometry, noiseOdometery));
   partialGraph.push_back(BetweenFactor<Pose3>(2, 3, poseOdometry, noiseOdometery));
 
-  GaussianFactorGraph linearGraph = *partialGraph.linearize(newValues);
+  GaussianFactorGraph linearGraph = *partialGraph.linearize(optimalValues);
 
     GaussianFactorGraph marginal = *linearGraph.eliminatePartialMultifrontal(vector<Key>(keysToMove.begin(), keysToMove.end()), EliminateCholesky).second;