From bf8acfda9aeec5ef6371607b0c23312f915b58b8 Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Wed, 21 May 2014 14:28:39 -0400
Subject: [PATCH] single GN iteration now

---
 gtsam/nonlinear/LagoInitializer.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/LagoInitializer.cpp b/gtsam/nonlinear/LagoInitializer.cpp
index 502c211ca..f7d7f7ce7 100644
--- a/gtsam/nonlinear/LagoInitializer.cpp
+++ b/gtsam/nonlinear/LagoInitializer.cpp
@@ -232,7 +232,9 @@ Values initializeLago(const NonlinearFactorGraph& graph) {
   pose2Graph.add(PriorFactor<Pose2>(keyAnchor, Pose2(), priorPose2Noise));
 
   // Optimize Pose2, with initialGuessLago as initial guess
-  GaussNewtonOptimizer pose2optimizer(pose2Graph, initialGuessLago);
+  GaussNewtonParams params;
+  params.setMaxIterations(1);
+  GaussNewtonOptimizer pose2optimizer(pose2Graph, initialGuessLago, params);
   initialGuessLago = pose2optimizer.optimize();
   initialGuessLago.erase(keyAnchor); // that was fictitious
   return initialGuessLago;