From 0c149b0ccab2614fe55d8517386f8a5d3272850d Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <dta-huynh@irobot.com>
Date: Tue, 13 Sep 2016 16:21:51 -0400
Subject: [PATCH] add python version for getA/getb as cython can't convert
 constABlock/BVector to Matrix/Vector automatically.

---
 gtsam/linear/JacobianFactor.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index 14ff46241..fe354b0bb 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -268,9 +268,11 @@ namespace gtsam {
 
     /** Get a view of the A matrix, not weighted by noise */
     constABlock getA() const { return Ab_.range(0, size()); }
+    Matrix py_getA() const { return getA(); }
 
     /** Get a view of the r.h.s. vector b (non-const version) */
     BVector getb() { return Ab_(size()).col(0); }
+    Vector py_getb() const { return getb(); }
 
     /** Get a view of the A matrix for the variable pointed to by the given key iterator (non-const version) */
     ABlock getA(iterator variable) { return Ab_(variable - begin()); }