From 2b4c0e1b140fba0932be461248f78a98af6c0a2c Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Tue, 4 Sep 2012 04:17:55 +0000
Subject: [PATCH] add printStats() and wrap saveGraph for ISAM2

---
 gtsam.h                 | 2 ++
 gtsam/nonlinear/ISAM2.h | 3 +++
 2 files changed, 5 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 5b21f726f..c5560668f 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1484,6 +1484,8 @@ class ISAM2 {
 
   bool equals(const gtsam::ISAM2& other, double tol) const;
   void print(string s) const;
+  void printStats() const;
+  void saveGraph(string s) const;
 
   gtsam::ISAM2Result update();
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index deb2fc9d1..1cea78837 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -598,6 +598,9 @@ public:
 
   const ISAM2Params& params() const { return params_; }
 
+  /** prints out clique statistics */
+  void printStats() const { getCliqueData().getStats().print(); }
+
   //@}
 
 private: