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Added accessor functions for robust and noise model in noiseModel::Robust

release/4.3a0
Richard Roberts 2011-12-21 17:41:15 +00:00
parent 927217ba4b
commit cfb24048d9
1 changed files with 6 additions and 0 deletions
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6
gtsam/linear/NoiseModel.h
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@ -697,6 +697,12 @@ namespace gtsam {
virtual void print(const std::string& name) const; virtual void print(const std::string& name) const;
virtual bool equals(const Base& expected, double tol=1e-9) const; virtual bool equals(const Base& expected, double tol=1e-9) const;
/// Return the contained robust error function
const RobustModel::shared_ptr& robust() const { return robust_; }
/// Return the contained noise model
const NoiseModel::shared_ptr& noise() const { return noise_; }
// TODO: all function below are dummy but necessary for the noiseModel::Base // TODO: all function below are dummy but necessary for the noiseModel::Base
inline virtual Vector whiten(const Vector& v) const inline virtual Vector whiten(const Vector& v) const