From 482d7fe73f699527c0a0002cfff0d043b0f95223 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 4 Sep 2009 14:59:17 +0000 Subject: [PATCH] exposed two internal functions --- cpp/NonlinearFactorGraph.h | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/cpp/NonlinearFactorGraph.h b/cpp/NonlinearFactorGraph.h index fef282501..0498a4c5a 100644 --- a/cpp/NonlinearFactorGraph.h +++ b/cpp/NonlinearFactorGraph.h @@ -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); }