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fixed constness bug in NonlinearISAM marginals

release/4.3a0
Alex Cunningham 2011-02-12 18:08:21 +00:00
parent 61d3d30f3b
commit be6bec2630
2 changed files with 4 additions and 4 deletions
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4
gtsam/nonlinear/NonlinearISAM-inl.h
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@ -85,7 +85,7 @@ void NonlinearISAM<Values>::reorder_relinearize() {
/* ************************************************************************* */ /* ************************************************************************* */
template<class Values> template<class Values>
Values NonlinearISAM<Values>::estimate() { Values NonlinearISAM<Values>::estimate() const {
if(isam_.size() > 0) if(isam_.size() > 0)
return linPoint_.expmap(optimize(isam_), ordering_); return linPoint_.expmap(optimize(isam_), ordering_);
else else
@ -94,7 +94,7 @@ Values NonlinearISAM<Values>::estimate() {
/* ************************************************************************* */ /* ************************************************************************* */
template<class Values> template<class Values>
Matrix NonlinearISAM<Values>::marginalCovariance(const Symbol& key) { Matrix NonlinearISAM<Values>::marginalCovariance(const Symbol& key) const {
Matrix covariance; Vector mean; Matrix covariance; Vector mean;
boost::tie(mean, covariance) = isam_.marginal(ordering_[key]); boost::tie(mean, covariance) = isam_.marginal(ordering_[key]);
return covariance; return covariance;

4
gtsam/nonlinear/NonlinearISAM.h
View File

@ -66,7 +66,7 @@ public:
void update(const Factors& newFactors, const Values& initialValues); void update(const Factors& newFactors, const Values& initialValues);
/** Return the current solution estimate */ /** Return the current solution estimate */
Values estimate(); Values estimate() const;
/** Relinearization and reordering of variables */ /** Relinearization and reordering of variables */
void reorder_relinearize(); void reorder_relinearize();
@ -78,7 +78,7 @@ public:
void setOrdering(const Ordering& new_ordering) { ordering_ = new_ordering; } void setOrdering(const Ordering& new_ordering) { ordering_ = new_ordering; }
/** find the marginal covariance for a single variable */ /** find the marginal covariance for a single variable */
Matrix marginalCovariance(const Symbol& key); Matrix marginalCovariance(const Symbol& key) const;
// access // access