Added ordering accessor

gtsam/nonlinear/DoglegOptimizer.h

@@ -152,6 +152,9 @@ public:
         dimensions_(new vector<size_t>(values_->dims(*ordering_))),
         delta_(dlParams_->deltaInitial) {}
 
+  /** Access the variable ordering used by this optimizer */
+  const SharedOrdering& ordering() const { return ordering_; }
+
   /// @}
 
   /// @name Advanced interface

gtsam/nonlinear/GaussNewtonOptimizer.h

@@ -134,6 +134,9 @@ public:
         colamdOrdering_(!ordering || ordering->size() == 0),
         ordering_(colamdOrdering_ ? graph_->orderingCOLAMD(*values_) : ordering) {}
 
+  /** Access the variable ordering used by this optimizer */
+  const SharedOrdering& ordering() const { return ordering_; }
+
   /// @}
 
   /// @name Advanced interface

gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp

@@ -101,8 +101,7 @@ NonlinearOptimizer::auto_ptr LevenbergMarquardtOptimizer::iterate() const {
         next_error = error;
         lambda /= lambdaFactor;
         break;
-      }
+      } else {
-      else {
         // Either we're not cautious, or the same lambda was worse than the current error.
         // The more adventurous lambda was worse too, so make lambda more conservative
         // and keep the same values.

gtsam/nonlinear/LevenbergMarquardtOptimizer.h

@@ -161,6 +161,9 @@ public:
         dimensions_(new vector<size_t>(values_->dims(*ordering_))),
         lambda_(lmParams_->lambdaInitial) {}
 
+  /** Access the variable ordering used by this optimizer */
+  const SharedOrdering& ordering() const { return ordering_; }
+
   /// @}
 
   /// @name Advanced interface