diff --git a/gtsam.h b/gtsam.h index fff3e04be..fb9348739 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1299,9 +1299,13 @@ class GaussianFactorGraph { // Conversion to matrices Matrix sparseJacobian_() const; Matrix augmentedJacobian() const; + Matrix augmentedJacobian(const gtsam::Ordering& ordering) const; pair jacobian() const; + pair jacobian(const gtsam::Ordering& ordering) const; Matrix augmentedHessian() const; + Matrix augmentedHessian(const gtsam::Ordering& ordering) const; pair hessian() const; + pair hessian(const gtsam::Ordering& ordering) const; // enabling serialization functionality void serialize() const;