From 41e045580c865706a6bf89c0d104da7195f6e56b Mon Sep 17 00:00:00 2001
From: Gerry Chen <gdc9@duke.edu>
Date: Tue, 14 Jan 2020 21:28:18 -0500
Subject: [PATCH] python wrapper: access to gaussian conditional matrices

---
 gtsam.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 7c03a3975..ae6ed4ac8 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1799,6 +1799,9 @@ virtual class GaussianConditional : gtsam::GaussianFactor {
   gtsam::VectorValues solveOtherRHS(const gtsam::VectorValues& parents, const gtsam::VectorValues& rhs) const;
   void solveTransposeInPlace(gtsam::VectorValues& gy) const;
   void scaleFrontalsBySigma(gtsam::VectorValues& gy) const;
+  Matrix R() const;
+  Matrix S() const;
+  Vector d() const;
 
   // enabling serialization functionality
   void serialize() const;