diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 30f0b14d2..42c38514c 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -490,6 +490,9 @@ public: /** Access the current ordering */ const Ordering& getOrdering() const { return ordering_; } + /** Access the nonlinear variable index */ + const VariableIndex& getVariableIndex() const { return variableIndex_; } + size_t lastAffectedVariableCount; size_t lastAffectedFactorCount; size_t lastAffectedCliqueCount;