From 5c6cfec7abf3e629eaf45524036fee849da130f7 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 17 Jan 2010 15:09:28 +0000
Subject: [PATCH] restored reset

---
 cpp/iterative-inl.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/cpp/iterative-inl.h b/cpp/iterative-inl.h
index 61904e3b3..07e716986 100644
--- a/cpp/iterative-inl.h
+++ b/cpp/iterative-inl.h
@@ -49,8 +49,9 @@ namespace gtsam {
 			if (k==maxIterations) break;
 
 			// update gradient (or re-calculate at reset time)
-			// g = (k%reset==0) ? Ab.gradient(x) : g + alpha * (Ab ^ Ad);
-			g = g + alpha * (Ab ^ Ad);
+			 g = (k%reset==0) ? Ab.gradient(x) : g + alpha * (Ab ^ Ad);
+//			 g = g + alpha * (Ab ^ Ad);
+//			 g = Ab.gradient(x);
 
 			// check for convergence
 			double dotg = dot(g, g);