From 4bbe66f1064bac2a89f419865e3911ea4ba2444f Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 13 Jun 2012 17:45:27 +0000
Subject: [PATCH] Wrapped some more iSAM methods. Note that wrap cannot handle
 returning a reference, so the 4 methods we (Yong-Dian and I) added make a
 copy, just by declaring it a non-reference in gtsam.h. Works, but be mindful
 of cost.

---
 gtsam.h | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index f1720c466..6628d2424 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -659,6 +659,7 @@ class Ordering {
 
 class NonlinearFactorGraph {
 	NonlinearFactorGraph();
+  void print(string s) const;
 };
 
 class Values {
@@ -975,6 +976,12 @@ class ISAM {
   void reorder_relinearize();
   void addKey(size_t key);
   void setOrdering(const gtsam::Ordering& new_ordering);
+
+  // These might be expensive as instead of a reference the wrapper will make a copy
+  gtsam::GaussianISAM bayesTree() const;
+  visualSLAM::Values getLinearizationPoint() const;
+  gtsam::Ordering getOrdering() const;
+  gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
 };
 
 }///\namespace visualSLAM