diff --git a/cpp/NonlinearOptimizer-inl.h b/cpp/NonlinearOptimizer-inl.h
index bf4730731..cf82fb1cd 100644
--- a/cpp/NonlinearOptimizer-inl.h
+++ b/cpp/NonlinearOptimizer-inl.h
@@ -28,9 +28,9 @@ namespace gtsam {
 		double absoluteDecrease = currentError - newError;
 		if (verbosity >= 2)
 			cout << "absoluteDecrease: " << absoluteDecrease << endl;
-		if (absoluteDecrease < 0)
-			throw overflow_error(
-					"NonlinearFactorGraph::optimize: error increased, diverges.");
+//		if (absoluteDecrease < 0)
+//			throw overflow_error(
+//					"NonlinearFactorGraph::optimize: error increased, diverges.");
 
 		// calculate relative error decrease and update currentError
 		double relativeDecrease = absoluteDecrease / currentError;
diff --git a/cpp/SubgraphPreconditioner-inl.h b/cpp/SubgraphPreconditioner-inl.h
index 9563330a6..43074b5b5 100644
--- a/cpp/SubgraphPreconditioner-inl.h
+++ b/cpp/SubgraphPreconditioner-inl.h
@@ -50,6 +50,7 @@ namespace gtsam {
 	VectorConfig SubgraphPCG<Graph, Config>::linearizeAndOptimize(const Graph& g,
 			const Config& theta_bar, const Ordering& ordering) const {
 
+		//TODO: 3 is hard coded here
 		VectorConfig zeros;
 		BOOST_FOREACH(const Symbol& j, ordering) zeros.insert(j,zero(3));