From f7a16654766386522ee2237c0a46a9485fab9137 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 3 Jan 2011 21:02:21 +0000
Subject: [PATCH] Added a non-const noiseModel accessor to GaussianFactor

---
 gtsam/linear/GaussianFactor.h | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h
index b43434a94..fd9d154a4 100644
--- a/gtsam/linear/GaussianFactor.h
+++ b/gtsam/linear/GaussianFactor.h
@@ -191,11 +191,14 @@ namespace gtsam {
 
   public:
 
-    /** get a copy of sigmas */
-    const Vector& get_sigmas() const {	return model_->sigmas();	}
+    /** access the sigmas */
+    const Vector& get_sigmas() const { return model_->sigmas(); }
 
-    /** get a copy of model */
-    const SharedDiagonal& get_model() const { return model_;  }
+    /** access the noise model */
+    const SharedDiagonal& get_model() const { return model_; }
+
+    /** access the noise model (non-const version) */
+    SharedDiagonal& get_model() { return model_; }
 
     /** get the indices list */
     const std::vector<size_t>& get_firstNonzeroBlocks() const { return firstNonzeroBlocks_; }