From 2a57a04ba65b81ed7b127c4e0e971f3d53bf0530 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 19 Jan 2010 05:29:31 +0000 Subject: [PATCH] get_model --- cpp/GaussianFactor.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/cpp/GaussianFactor.h b/cpp/GaussianFactor.h index 1c2483c3c..378db8394 100644 --- a/cpp/GaussianFactor.h +++ b/cpp/GaussianFactor.h @@ -95,7 +95,7 @@ public: As_.insert(terms[i]); } - /** Construct an n-ary factor with a multiple sigmas*/ + /** Construct an n-ary factor with multiple sigmas*/ GaussianFactor(const std::vector > &terms, const Vector &b, const Vector& sigmas) : b_(b), model_(noiseModel::Diagonal::Sigmas(sigmas)) { @@ -139,6 +139,9 @@ public: /** get a copy of sigmas */ const Vector& get_sigmas() const { return model_->sigmas(); } + /** get a copy of sigmas */ + const sharedDiagonal& get_model() const { return model_; } + /** * get a copy of the A matrix from a specific node * O(log n)