From 7849cf4c41760d2c75ce0097041630d9d9cc6bd3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 17 Jan 2023 15:57:18 -0500
Subject: [PATCH] add a TODO about reorder_relinearize

---
 gtsam/hybrid/HybridNonlinearISAM.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/hybrid/HybridNonlinearISAM.cpp b/gtsam/hybrid/HybridNonlinearISAM.cpp
index d6b83e30d6..b7a5a8eeb3 100644
--- a/gtsam/hybrid/HybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/HybridNonlinearISAM.cpp
@@ -39,6 +39,7 @@ void HybridNonlinearISAM::update(const HybridNonlinearFactorGraph& newFactors,
   if (newFactors.size() > 0) {
     // Reorder and relinearize every reorderInterval updates
     if (reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) {
+      // TODO(Varun) Relinearization doesn't take into account pruning
       reorder_relinearize();
       reorderCounter_ = 0;
     }