exposed two internal functions
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				|  | @ -122,4 +122,17 @@ private: | |||
| 	} | ||||
| 
 | ||||
| }; | ||||
| 
 | ||||
| /**
 | ||||
|  * Check convergence | ||||
|  */ | ||||
| bool check_convergence (double relativeErrorTreshold, | ||||
| 		double absoluteErrorTreshold, | ||||
| 		double currentError, double newError, | ||||
| 		int verbosity); | ||||
| 
 | ||||
| /**
 | ||||
|  * calculate error for current configuration | ||||
|  */ | ||||
| double calculate_error (const NonlinearFactorGraph& fg, const FGConfig& config, int verbosity); | ||||
| } | ||||
|  |  | |||
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