From efc5ea8dcefe7d0f018aeddf3e8a9113abdb5bb2 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 12 Nov 2013 17:02:46 +0000
Subject: [PATCH] Small cleanup

---
 gtsam/nonlinear/ISAM2.cpp | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp
index 3bb54d802..a789b96fb 100644
--- a/gtsam/nonlinear/ISAM2.cpp
+++ b/gtsam/nonlinear/ISAM2.cpp
@@ -710,16 +710,14 @@ ISAM2Result ISAM2::update(
     linearFactors_.push_back(*linearFactors);
     assert(nonlinearFactors_.size() == linearFactors_.size());
     gttoc(linearize);
-
-    gttic(augment_VI);
-    // Augment the variable index with the new factors
-    variableIndex_.augment(*linearFactors); // TODO: move this to a better place now
-    gttoc(augment_VI);
-  } else {
-    variableIndex_.augment(newFactors);
   }
   gttoc(linearize_new);
 
+  gttic(augment_VI);
+  // Augment the variable index with the new factors
+  variableIndex_.augment(newFactors);
+  gttoc(augment_VI);
+
   gttic(recalculate);
   // 8. Redo top of Bayes tree
   boost::shared_ptr<FastSet<Key> > replacedKeys;