From 1dc0e6192bfc2df81c25a9a7cbd3aa112bba9baa Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sat, 10 Aug 2013 17:15:03 +0000 Subject: [PATCH] Added accessor functions for internal data structures to IncrementalFixedLagSmoother --- .../nonlinear/IncrementalFixedLagSmoother.h | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h index b46a08074..9434e3ecb 100644 --- a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h +++ b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h @@ -79,6 +79,26 @@ public: return isam_.params(); } + /** Access the current set of factors */ + const NonlinearFactorGraph& getFactors() const { + return isam_.getFactorsUnsafe(); + } + + /** Access the current linearization point */ + const Values& getLinearizationPoint() const { + return isam_.getLinearizationPoint(); + } + + /** Access the current ordering */ + const Ordering& getOrdering() const { + return isam_.getOrdering(); + } + + /** Access the current set of deltas to the linearization point */ + const VectorValues& getDelta() const { + return isam_.getDelta(); + } + protected: /** An iSAM2 object used to perform inference. The smoother lag is controlled * by what factors are removed each iteration */