diff --git a/cpp/NonlinearFactorGraph-inl.h b/cpp/NonlinearFactorGraph-inl.h
index a7bdff8e8..b0dce3ede 100644
--- a/cpp/NonlinearFactorGraph-inl.h
+++ b/cpp/NonlinearFactorGraph-inl.h
@@ -12,8 +12,19 @@
 #include "GaussianFactorGraph.h"
 #include "NonlinearFactorGraph.h"
 
+using namespace std;
+
 namespace gtsam {
 
+	/* ************************************************************************* */
+	template<class Config>
+	Vector NonlinearFactorGraph<Config>::error_vector(const Config& c) const {
+		list<Vector> errors;
+		BOOST_FOREACH(typename NonlinearFactorGraph<Config>::sharedFactor factor, this->factors_)
+			errors.push_back(factor->error_vector(c));
+		return concatVectors(errors);
+	}
+
 	/* ************************************************************************* */
 	template<class Config>
 	double NonlinearFactorGraph<Config>::error(const Config& c) const {
@@ -21,9 +32,9 @@ namespace gtsam {
 		// iterate over all the factors_ to accumulate the log probabilities
 		BOOST_FOREACH(typename NonlinearFactorGraph<Config>::sharedFactor factor, this->factors_)
 			total_error += factor->error(c);
-
 		return total_error;
 	}
+
 	/* ************************************************************************* */
 	template<class Config>
 	boost::shared_ptr<GaussianFactorGraph> NonlinearFactorGraph<Config>::linearize_(
diff --git a/cpp/NonlinearFactorGraph.h b/cpp/NonlinearFactorGraph.h
index 86ffb4bf0..a96006be0 100644
--- a/cpp/NonlinearFactorGraph.h
+++ b/cpp/NonlinearFactorGraph.h
@@ -31,6 +31,9 @@ namespace gtsam {
 		/** unnormalized error */
 		double error(const Config& c) const;
 
+		/** all individual errors */
+		Vector error_vector(const Config& c) const;
+
 		/** Unnormalized probability. O(n) */
 		double probPrime(const Config& c) const {
 			return exp(-0.5 * error(c));
@@ -41,10 +44,11 @@ namespace gtsam {
 		 */
 		GaussianFactorGraph linearize(const Config& config) const;
 
-	    /**
-	     * shared pointer versions for MATLAB
-	     */
-	    boost::shared_ptr<GaussianFactorGraph> linearize_(const Config& config) const;
+		/**
+		 * shared pointer versions for MATLAB
+		 */
+		boost::shared_ptr<GaussianFactorGraph>
+				linearize_(const Config& config) const;
 
 	};