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ISAM2 helper methods and wrapper to evaluate nonlinear error

release/4.3a0
Varun Agrawal 2020-09-10 19:59:18 -04:00
parent de75367e5e
commit 9acf8d4ebc
2 changed files with 4 additions and 0 deletions
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2
gtsam/gtsam.i
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@ -2551,6 +2551,8 @@ class ISAM2Result {
size_t getVariablesRelinearized() const; size_t getVariablesRelinearized() const;
size_t getVariablesReeliminated() const; size_t getVariablesReeliminated() const;
size_t getCliques() const; size_t getCliques() const;
double getErrorBefore() const;
double getErrorAfter() const;
}; };
class ISAM2 { class ISAM2 {

2
gtsam/nonlinear/ISAM2Result.h
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@ -176,6 +176,8 @@ struct ISAM2Result {
size_t getVariablesRelinearized() const { return variablesRelinearized; } size_t getVariablesRelinearized() const { return variablesRelinearized; }
size_t getVariablesReeliminated() const { return variablesReeliminated; } size_t getVariablesReeliminated() const { return variablesReeliminated; }
size_t getCliques() const { return cliques; } size_t getCliques() const { return cliques; }
double getErrorBefore() const { return errorBefore ? *errorBefore : std::nan(""); }
double getErrorAfter() const { return errorAfter ? *errorAfter : std::nan(""); }
}; };
} // namespace gtsam } // namespace gtsam