Merge pull request #518 from borglab/feature/isam2-error

ISAM2 Evaluate Nonlinear Error
release/4.3a0
Frank Dellaert 2020-09-29 10:18:09 -04:00 committed by GitHub
commit 182dfbdb44
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 4 additions and 0 deletions

View File

@ -2462,6 +2462,8 @@ class ISAM2Result {
size_t getVariablesRelinearized() const;
size_t getVariablesReeliminated() const;
size_t getCliques() const;
double getErrorBefore() const;
double getErrorAfter() const;
};
class ISAM2 {

View File

@ -176,6 +176,8 @@ struct ISAM2Result {
size_t getVariablesRelinearized() const { return variablesRelinearized; }
size_t getVariablesReeliminated() const { return variablesReeliminated; }
size_t getCliques() const { return cliques; }
double getErrorBefore() const { return errorBefore ? *errorBefore : std::nan(""); }
double getErrorAfter() const { return errorAfter ? *errorAfter : std::nan(""); }
};
} // namespace gtsam