From 8f5dd13cf7cbe560a3b781759bc5485e4c4264c4 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 25 May 2012 17:55:02 +0000 Subject: [PATCH] Added access to the variable index in the iSAM2 solver --- gtsam/nonlinear/ISAM2.h | 3 +++ 1 file changed, 3 insertions(+) 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;