From 9acf8d4ebca32e2f13e7c7deb75e9d449d86cffc Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 10 Sep 2020 19:59:18 -0400
Subject: [PATCH] ISAM2 helper methods and wrapper to evaluate nonlinear error

---
 gtsam/gtsam.i                 | 2 ++
 gtsam/nonlinear/ISAM2Result.h | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 52f5901ee..8779c946f 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2551,6 +2551,8 @@ class ISAM2Result {
   size_t getVariablesRelinearized() const;
   size_t getVariablesReeliminated() const;
   size_t getCliques() const;
+  double getErrorBefore() const;
+  double getErrorAfter() const;
 };
 
 class ISAM2 {
diff --git a/gtsam/nonlinear/ISAM2Result.h b/gtsam/nonlinear/ISAM2Result.h
index e45b17e4a..b249af5c5 100644
--- a/gtsam/nonlinear/ISAM2Result.h
+++ b/gtsam/nonlinear/ISAM2Result.h
@@ -176,6 +176,8 @@ struct ISAM2Result {
   size_t getVariablesRelinearized() const { return variablesRelinearized; }
   size_t getVariablesReeliminated() const { return variablesReeliminated; }
   size_t getCliques() const { return cliques; }
+  double getErrorBefore() const { return errorBefore ? *errorBefore : std::nan(""); }
+  double getErrorAfter() const { return errorAfter ? *errorAfter : std::nan(""); }
 };
 
 }  // namespace gtsam