From 2c53a58c9fe4e6b82f8b5d32941d7c9298d5c77b Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 2 Apr 2013 17:36:50 +0000
Subject: [PATCH] Added number of factors recalculated to ISAM2Result

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

diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp
index 01c6810c4..423a576c1 100644
--- a/gtsam/nonlinear/ISAM2.cpp
+++ b/gtsam/nonlinear/ISAM2.cpp
@@ -382,6 +382,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(const FastSet<Index>& mark
     gttoc(insert);
 
     result.variablesReeliminated = affectedKeysSet->size();
+    result.factorsRecalculated = nonlinearFactors_.size();
 
     lastAffectedMarkedCount = markedKeys.size();
     lastAffectedVariableCount = affectedKeysSet->size();
@@ -419,6 +420,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(const FastSet<Index>& mark
     }
 
     result.variablesReeliminated = affectedAndNewKeys.size();
+    result.factorsRecalculated = factors.size();
     lastAffectedMarkedCount = markedKeys.size();
     lastAffectedVariableCount = affectedKeys.size();
     lastAffectedFactorCount = factors.size();
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index efb755360..71a07e228 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -285,6 +285,9 @@ struct GTSAM_EXPORT ISAM2Result {
    */
   size_t variablesReeliminated;
 
+  /** The number of factors that were included in reelimination of the Bayes' tree. */
+  size_t factorsRecalculated;
+
   /** The number of cliques in the Bayes' Tree */
   size_t cliques;