diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 1c5dc6e32b73a300495a3687948f47da1482c0be..de40f101d1a6bf8a2285294a7aec5828139ce061 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -967,30 +967,30 @@ void Problem::setPriorOptions(const std::string& _mode,
                               const VectorComposite& _state ,
                               const MatrixComposite& _cov   )
 {
-//    assert(prior_options_ != nullptr && "prior options have already been applied");
-//    assert(prior_options_->mode == "" && "prior options have already been set");
-//    assert((_mode == "nothing" || _mode == "initial_guess" || _mode == "fix" || _mode == "factor") && "wrong _mode value, it should be: 'nothing', 'initial_guess', 'fix' or 'factor'");
-//
-//    // Store options (optionals depending on the mode)
-//    WOLF_TRACE("prior mode:           ", _mode);
-//    prior_options_->mode = _mode;
-//
-//    if (prior_options_->mode != "nothing")
-//    {
-//        assert(_time_tolerance > 0 && "time tolerance should be bigger than 0");
-//
-//        WOLF_TRACE("prior state:          ", _state.transpose());
-//        WOLF_TRACE("prior time tolerance: ", _time_tolerance);
-//        prior_options_->state = _state;
-//        prior_options_->time_tolerance = _time_tolerance;
-//
-//        if (prior_options_->mode == "factor")
-//        {
-//            assert(isCovariance(_cov) && "cov is not a covariance matrix (symmetric and Pos Def)");
-//            WOLF_TRACE("prior covariance:\n"    , _cov);
-//            prior_options_->cov = _cov;
-//        }
-//    }
+    assert(prior_options_ != nullptr && "prior options have already been applied");
+    assert(prior_options_->mode == "" && "prior options have already been set");
+    assert((_mode == "nothing" || _mode == "initial_guess" || _mode == "fix" || _mode == "factor") && "wrong _mode value, it should be: 'nothing', 'initial_guess', 'fix' or 'factor'");
+
+    // Store options (optionals depending on the mode)
+    WOLF_TRACE("prior mode:           ", _mode);
+    prior_options_->mode = _mode;
+
+    if (prior_options_->mode != "nothing")
+    {
+        assert(_time_tolerance > 0 && "time tolerance should be bigger than 0");
+
+        WOLF_TRACE("prior state:          ", _state);
+        WOLF_TRACE("prior time tolerance: ", _time_tolerance);
+        prior_options_->state = _state;
+        prior_options_->time_tolerance = _time_tolerance;
+
+        if (prior_options_->mode == "factor")
+        {
+            assert(isCovariance(_cov) && "cov is not a covariance matrix (symmetric and Pos Def)");
+            WOLF_TRACE("prior covariance:\n"    , _cov);
+            prior_options_->cov = _cov;
+        }
+    }
 }
 
 FrameBasePtr Problem::applyPriorOptions(const TimeStamp& _ts)