function to save graph as graphviz file via wrapper
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				|  | @ -2041,6 +2041,7 @@ class NonlinearFactorGraph { | |||
| 
 | ||||
|   // enabling serialization functionality | ||||
|   void serialize() const; | ||||
|   void saveGraph(const string& s) const; | ||||
| }; | ||||
| 
 | ||||
| #include <gtsam/nonlinear/NonlinearFactor.h> | ||||
|  |  | |||
|  | @ -34,6 +34,7 @@ | |||
| #endif | ||||
| 
 | ||||
| #include <cmath> | ||||
| #include <fstream> | ||||
| #include <limits> | ||||
| 
 | ||||
| using namespace std; | ||||
|  | @ -256,6 +257,16 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values, | |||
|   stm << "}\n"; | ||||
| } | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| void NonlinearFactorGraph::saveGraph( | ||||
|     const std::string& file, const Values& values, | ||||
|     const GraphvizFormatting& graphvizFormatting, | ||||
|     const KeyFormatter& keyFormatter) const { | ||||
|   std::ofstream of(file); | ||||
|   saveGraph(of, values, graphvizFormatting, keyFormatter); | ||||
|   of.close(); | ||||
| } | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| double NonlinearFactorGraph::error(const Values& values) const { | ||||
|   gttic(NonlinearFactorGraph_error); | ||||
|  |  | |||
|  | @ -11,7 +11,7 @@ | |||
| 
 | ||||
| /**
 | ||||
|  * @file    NonlinearFactorGraph.h | ||||
|  * @brief   Factor Graph Constsiting of non-linear factors | ||||
|  * @brief   Factor Graph consisting of non-linear factors | ||||
|  * @author  Frank Dellaert | ||||
|  * @author  Carlos Nieto | ||||
|  * @author  Christian Potthast | ||||
|  | @ -115,6 +115,11 @@ namespace gtsam { | |||
|     void saveGraph(std::ostream& stm, const Values& values = Values(), | ||||
|       const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), | ||||
|       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; | ||||
|    | ||||
|     /** Write the graph in GraphViz format to file for visualization */ | ||||
|     void saveGraph(const std::string& file, const Values& values = Values(), | ||||
|       const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), | ||||
|       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; | ||||
| 
 | ||||
|     /** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */ | ||||
|     double error(const Values& values) const; | ||||
|  |  | |||
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