From 9b70fcdcfd4523cc752009c6b9dc63576ac2e3a2 Mon Sep 17 00:00:00 2001
From: Brice Rebsamen <brice.rebsamen@gmail.com>
Date: Wed, 22 May 2019 11:37:49 -0700
Subject: [PATCH] fix issue 16

---
 gtsam/nonlinear/factorTesting.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/factorTesting.h b/gtsam/nonlinear/factorTesting.h
index c0eccbd08..74ef87737 100644
--- a/gtsam/nonlinear/factorTesting.h
+++ b/gtsam/nonlinear/factorTesting.h
@@ -46,9 +46,9 @@ JacobianFactor linearizeNumerically(const NoiseModelFactor& factor,
 
   // Loop over all variables
   const double one_over_2delta = 1.0 / (2.0 * delta);
-  VectorValues dX = values.zeroVectors();
   for(Key key: factor) {
     // Compute central differences using the values struct.
+    VectorValues dX = values.zeroVectors();
     const size_t cols = dX.dim(key);
     Matrix J = Matrix::Zero(rows, cols);
     for (size_t col = 0; col < cols; ++col) {