From 355141f9857301224d0c9c78b6aa737ce4160179 Mon Sep 17 00:00:00 2001
From: Stephen Williams <stephen.vincent.williams@gmail.com>
Date: Wed, 15 Aug 2012 17:17:52 +0000
Subject: [PATCH] Added dense matrix accessor for JointMarginals

---
 gtsam.h                     | 1 +
 gtsam/nonlinear/Marginals.h | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index fd36a28c0..262e1d105 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1239,6 +1239,7 @@ class Marginals {
 
 class JointMarginal {
 	Matrix at(size_t iVariable, size_t jVariable) const;
+	Matrix fullMatrix() const;
 	void print(string s) const;
 	void print() const;
 };
diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h
index 588531830..302c686e8 100644
--- a/gtsam/nonlinear/Marginals.h
+++ b/gtsam/nonlinear/Marginals.h
@@ -116,6 +116,13 @@ public:
 	Block at(Key iVariable, Key jVariable) const {
 		return (*this)(iVariable, jVariable); }
 
+	/** The full, dense covariance/information matrix of the joint marginal. This returns
+	 * a reference to the JointMarginal object, so the JointMarginal object must be kept
+	 * in scope while this view is needed. Otherwise assign this block object to a Matrix
+	 * to store it.
+	 */
+	const Matrix& fullMatrix() const { return fullMatrix_; }
+
   /** Copy constructor */
   JointMarginal(const JointMarginal& other);