From 86cf063a5e78d1247c3bcb2eed2ae1f567b252b0 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 1 Jul 2013 13:09:17 +0000
Subject: [PATCH] Added ISAM2::marginalCovariance to wrapper

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

diff --git a/gtsam.h b/gtsam.h
index 33d26d939..ee069e0d3 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2047,6 +2047,7 @@ virtual class ISAM2  : gtsam::ISAM2BayesTree {
 
   gtsam::Values getLinearizationPoint() const;
   gtsam::Values calculateEstimate() const;
+  Matrix marginalCovariance(size_t key) const;
   gtsam::Values calculateBestEstimate() const;
   gtsam::VectorValues getDelta() const;
   gtsam::NonlinearFactorGraph getFactorsUnsafe() const;