fixed constness bug in NonlinearISAM marginals
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				|  | @ -85,7 +85,7 @@ void NonlinearISAM<Values>::reorder_relinearize() { | |||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| template<class Values> | ||||
| Values NonlinearISAM<Values>::estimate() { | ||||
| Values NonlinearISAM<Values>::estimate() const { | ||||
|   if(isam_.size() > 0) | ||||
|     return linPoint_.expmap(optimize(isam_), ordering_); | ||||
|   else | ||||
|  | @ -94,7 +94,7 @@ Values NonlinearISAM<Values>::estimate() { | |||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| template<class Values> | ||||
| Matrix NonlinearISAM<Values>::marginalCovariance(const Symbol& key) { | ||||
| Matrix NonlinearISAM<Values>::marginalCovariance(const Symbol& key) const { | ||||
| 	Matrix covariance; Vector mean; | ||||
| 	boost::tie(mean, covariance) = isam_.marginal(ordering_[key]); | ||||
| 	return covariance; | ||||
|  |  | |||
|  | @ -66,7 +66,7 @@ public: | |||
| 	void update(const Factors& newFactors, const Values& initialValues); | ||||
| 
 | ||||
| 	/** Return the current solution estimate */ | ||||
| 	Values estimate(); | ||||
| 	Values estimate() const; | ||||
| 
 | ||||
| 	/** Relinearization and reordering of variables */ | ||||
| 	void reorder_relinearize(); | ||||
|  | @ -78,7 +78,7 @@ public: | |||
| 	void setOrdering(const Ordering& new_ordering) { ordering_ = new_ordering; } | ||||
| 
 | ||||
| 	/** find the marginal covariance for a single variable */ | ||||
| 	Matrix marginalCovariance(const Symbol& key); | ||||
| 	Matrix marginalCovariance(const Symbol& key) const; | ||||
| 
 | ||||
| 	// access
 | ||||
| 
 | ||||
|  |  | |||
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