From f216e97a15fe692d85549c747997ca7aa138eb74 Mon Sep 17 00:00:00 2001
From: Stephen Williams <stephen.vincent.williams@gmail.com>
Date: Mon, 15 Apr 2013 17:53:33 +0000
Subject: [PATCH] Modified the getter method in the FixedLagSmoother base class
 to follow general GTSAM conventions

---
 ...ConcurrentFilteringAndSmoothingExample.cpp |  4 +-
 .../examples/FixedLagSmootherExample.cpp      |  4 +-
 gtsam_unstable/nonlinear/FixedLagSmoother.h   | 40 ++++++++++++-------
 3 files changed, 29 insertions(+), 19 deletions(-)

diff --git a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
index 13062cf5d..bdbb3835f 100644
--- a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
+++ b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
@@ -314,11 +314,11 @@ int main(int argc, char** argv) {
     cout << setprecision(5) << "    Key: " << key_value.key << endl;
   }
   cout << "  Fixed-Lag Smoother Keys: " << endl;
-  BOOST_FOREACH(const FixedLagSmoother::KeyTimestampMap::value_type& key_timestamp, fixedlagSmoother.getTimestamps()) {
+  BOOST_FOREACH(const FixedLagSmoother::KeyTimestampMap::value_type& key_timestamp, fixedlagSmoother.timestamps()) {
     cout << setprecision(5) << "    Key: " << key_timestamp.first << endl;
   }
   cout << "  Batch Smoother Keys: " << endl;
-  BOOST_FOREACH(const FixedLagSmoother::KeyTimestampMap::value_type& key_timestamp, batchSmoother.getTimestamps()) {
+  BOOST_FOREACH(const FixedLagSmoother::KeyTimestampMap::value_type& key_timestamp, batchSmoother.timestamps()) {
     cout << setprecision(5) << "    Key: " << key_timestamp.first << endl;
   }
 
diff --git a/gtsam_unstable/examples/FixedLagSmootherExample.cpp b/gtsam_unstable/examples/FixedLagSmootherExample.cpp
index 4ef20740c..4c2b9ba89 100644
--- a/gtsam_unstable/examples/FixedLagSmootherExample.cpp
+++ b/gtsam_unstable/examples/FixedLagSmootherExample.cpp
@@ -127,11 +127,11 @@ int main(int argc, char** argv) {
   // And to demonstrate the fixed-lag aspect, print the keys contained in each smoother after 3.0 seconds
   cout << "After 3.0 seconds, " << endl;
   cout << "  Batch Smoother Keys: " << endl;
-  BOOST_FOREACH(const FixedLagSmoother::KeyTimestampMap::value_type& key_timestamp, smootherBatch.getTimestamps()) {
+  BOOST_FOREACH(const FixedLagSmoother::KeyTimestampMap::value_type& key_timestamp, smootherBatch.timestamps()) {
     cout << setprecision(5) << "    Key: " << key_timestamp.first << "  Time: " << key_timestamp.second << endl;
   }
   cout << "  iSAM2 Smoother Keys: " << endl;
-  BOOST_FOREACH(const FixedLagSmoother::KeyTimestampMap::value_type& key_timestamp, smootherISAM2.getTimestamps()) {
+  BOOST_FOREACH(const FixedLagSmoother::KeyTimestampMap::value_type& key_timestamp, smootherISAM2.timestamps()) {
     cout << setprecision(5) << "    Key: " << key_timestamp.first << "  Time: " << key_timestamp.second << endl;
   }
 
diff --git a/gtsam_unstable/nonlinear/FixedLagSmoother.h b/gtsam_unstable/nonlinear/FixedLagSmoother.h
index 1f58e43d2..521bd8b3b 100644
--- a/gtsam_unstable/nonlinear/FixedLagSmoother.h
+++ b/gtsam_unstable/nonlinear/FixedLagSmoother.h
@@ -49,6 +49,12 @@ public:
     size_t linearVariables; ///< The number of variables that must keep a constant linearization point
     double error; ///< The final factor graph error
     Result() : iterations(0), nonlinearVariables(0), linearVariables(0), error(0) {};
+
+    /// Getter methods
+    size_t getIterations() const { return iterations; }
+    size_t getNonlinearVariables() const { return nonlinearVariables; }
+    size_t getLinearVariables() const { return linearVariables; }
+    double getError() const { return error; }
   };
 
 
@@ -64,21 +70,6 @@ public:
   /** Check if two IncrementalFixedLagSmoother Objects are equal */
   virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const;
 
-  /** Add new factors, updating the solution and relinearizing as needed. */
-  virtual Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
-      const KeyTimestampMap& timestamps = KeyTimestampMap()) = 0;
-
-  /** Access the current set of timestamps associated with each variable */
-  const KeyTimestampMap& getTimestamps() const {
-    return keyTimestampMap_;
-  }
-
-  /** Compute an estimate from the incomplete linear delta computed during the last update.
-   * This delta is incomplete because it was not updated below wildfire_threshold.  If only
-   * a single variable is needed, it is faster to call calculateEstimate(const KEY&).
-   */
-  virtual Values calculateEstimate() const  = 0;
-
   /** read the current smoother lag */
   double smootherLag() const {
     return smootherLag_;
@@ -89,6 +80,21 @@ public:
     return smootherLag_;
   }
 
+  /** Access the current set of timestamps associated with each variable */
+  const KeyTimestampMap& timestamps() const {
+    return keyTimestampMap_;
+  }
+
+  /** Add new factors, updating the solution and relinearizing as needed. */
+  virtual Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
+      const KeyTimestampMap& timestamps = KeyTimestampMap()) = 0;
+
+  /** Compute an estimate from the incomplete linear delta computed during the last update.
+   * This delta is incomplete because it was not updated below wildfire_threshold.  If only
+   * a single variable is needed, it is faster to call calculateEstimate(const KEY&).
+   */
+  virtual Values calculateEstimate() const  = 0;
+
 
 protected:
 
@@ -116,4 +122,8 @@ protected:
 
 }; // FixedLagSmoother
 
+/// Typedef for matlab wrapping
+typedef FixedLagSmoother::KeyTimestampMap FixedLagSmootherKeyTimestampMap;
+typedef FixedLagSmoother::Result FixedLagSmootherResult;
+
 } /// namespace gtsam