From eada34bd765b452d84d3fe1b33a25b78c7bdfb24 Mon Sep 17 00:00:00 2001
From: Kai Ni <nikai97@gmail.com>
Date: Thu, 30 Dec 2010 11:15:34 +0000
Subject: [PATCH] fixed a bug that causes the optimizer return an incorrect
 error

---
 gtsam/nonlinear/NonlinearOptimizer-inl.h | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/gtsam/nonlinear/NonlinearOptimizer-inl.h b/gtsam/nonlinear/NonlinearOptimizer-inl.h
index 7cb0e6ae1..33f8d7cd4 100644
--- a/gtsam/nonlinear/NonlinearOptimizer-inl.h
+++ b/gtsam/nonlinear/NonlinearOptimizer-inl.h
@@ -149,10 +149,9 @@ namespace gtsam {
 
 		if( lambdaMode >= Parameters::CAUTIOUS) throw runtime_error("CAUTIOUS mode not working yet, please use BOUNDED.");
 
-		bool first_iteration = true;
 		double next_error = error_;
 
-		shared_values next_values;
+		shared_values next_values = values_;
 
 		while(true) {
 		  if (verbosity >= Parameters::TRYLAMBDA) cout << "trying lambda = " << lambda << endl;
@@ -189,12 +188,8 @@ namespace gtsam {
 
 		  if (verbosity >= Parameters::TRYLAMBDA) cout << "next error = " << error << endl;
 
-		  if(first_iteration || error <= error_) {
-			  next_values = newValues;
-			  first_iteration = false;
-		  }
-
 		  if( error <= error_ ) {
+		  	next_values = newValues;
 		  	next_error = error;
 			  lambda /= factor;
 		  	break;