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NonlinearOptimizer marginalCovariance returns mean as well

release/4.3a0
Richard Roberts 2010-10-26 13:51:39 +00:00
parent 8dea2f0f98
commit 67ecfed86e
2 changed files with 4 additions and 4 deletions
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4
examples/Pose2SLAMExample_advanced.cpp
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@ -77,8 +77,8 @@ int main(int argc, char** argv) {
result.print("final result");
/* Get covariances */
Matrix covariance1 = optimizer_result.marginalCovariance(x1);
Matrix covariance2 = optimizer_result.marginalCovariance(x2);
Matrix covariance1 = optimizer_result.marginalCovariance(x1).second;
Matrix covariance2 = optimizer_result.marginalCovariance(x2).second;
print(covariance1, "Covariance1");
print(covariance2, "Covariance2");

4
gtsam/nonlinear/NonlinearOptimizer.h
View File

@ -209,8 +209,8 @@ namespace gtsam {
/**
* Return mean and covariance on a single variable
*/
Matrix marginalCovariance(Symbol j) const {
return solver_->marginalCovariance((*ordering_)[j]).second;
std::pair<Vector,Matrix> marginalCovariance(Symbol j) const {
return solver_->marginalCovariance((*ordering_)[j]);
}
/**