From 75263296b37945d2473a753e969e5fe5e258e990 Mon Sep 17 00:00:00 2001
From: senselessDev <senselessDev@users.noreply.github.com>
Date: Sat, 29 Jan 2022 23:31:07 +0100
Subject: [PATCH] expose iSAM object for iFLS, fix __repr__ of iFLS, bFLS

---
 gtsam_unstable/gtsam_unstable.i                        | 5 +++++
 gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h | 3 +++
 2 files changed, 8 insertions(+)

diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index 7d5241771..dd66e7a73 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -582,6 +582,8 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
   BatchFixedLagSmoother(double smootherLag);
   BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params);
 
+  void print(string s = "BatchFixedLagSmoother:\n") const;
+
   gtsam::LevenbergMarquardtParams params() const;
   template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
                      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
@@ -595,9 +597,12 @@ virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
   IncrementalFixedLagSmoother(double smootherLag);
   IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params);
 
+  void print(string s = "IncrementalFixedLagSmoother:\n") const;
+
   gtsam::ISAM2Params params() const;
 
   gtsam::NonlinearFactorGraph getFactors() const;
+  gtsam::ISAM2 getISAM2() const;
 };
 
 #include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h>
diff --git a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
index 79c05a01a..4079dbb23 100644
--- a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
+++ b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
@@ -113,6 +113,9 @@ public:
   /// Get results of latest isam2 update
   const ISAM2Result& getISAM2Result() const{ return isamResult_; }
 
+  /// Get the iSAM2 object which is used for the inference internally
+  const ISAM2& getISAM2() const { return isam_; }
+
 protected:
 
   /** Create default parameters */