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add printStats() and wrap saveGraph for ISAM2

release/4.3a0
Duy-Nguyen Ta 2012-09-04 04:17:55 +00:00
parent 403c6e39ad
commit 2b4c0e1b14
2 changed files with 5 additions and 0 deletions
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2
gtsam.h
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@ -1484,6 +1484,8 @@ class ISAM2 {
bool equals(const gtsam::ISAM2& other, double tol) const; bool equals(const gtsam::ISAM2& other, double tol) const;
void print(string s) const; void print(string s) const;
void printStats() const;
void saveGraph(string s) const;
gtsam::ISAM2Result update(); gtsam::ISAM2Result update();
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta); gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);

3
gtsam/nonlinear/ISAM2.h
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@ -598,6 +598,9 @@ public:
const ISAM2Params& params() const { return params_; } const ISAM2Params& params() const { return params_; }
/** prints out clique statistics */
void printStats() const { getCliqueData().getStats().print(); }
//@} //@}
private: private: