From f8ce3a9c110a3d4be2d38fe9f40c1ee1fc45ee60 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 7 Jun 2012 13:17:46 +0000
Subject: [PATCH] saveGraph

---
 gtsam.h                             | 4 +++-
 gtsam/nonlinear/NonlinearISAM-inl.h | 6 ++++++
 gtsam/nonlinear/NonlinearISAM.h     | 3 +++
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/gtsam.h b/gtsam.h
index 9cfdab742..447b9f7ca 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -602,6 +602,7 @@ class GaussianFactorGraph {
 
 class GaussianISAM {
   GaussianISAM();
+  void saveGraph(string s) const;
   gtsam::GaussianFactor* marginalFactor(size_t j) const;
   gtsam::GaussianBayesNet* marginalBayesNet(size_t key) const;
   Matrix marginalCovariance(size_t key) const;
@@ -933,11 +934,12 @@ class Graph {
 class ISAM {
 	ISAM();
 	ISAM(int reorderInterval);
+  void print(string s) const;
+  void saveGraph(string s) const;
 	visualSLAM::Values estimate() const;
   Matrix marginalCovariance(size_t key) const;
   int reorderInterval() const;
   int reorderCounter() const;
-  void print(string s) const;
   void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues);
   void reorder_relinearize();
   void addKey(size_t key);
diff --git a/gtsam/nonlinear/NonlinearISAM-inl.h b/gtsam/nonlinear/NonlinearISAM-inl.h
index e054ecacb..55181731c 100644
--- a/gtsam/nonlinear/NonlinearISAM-inl.h
+++ b/gtsam/nonlinear/NonlinearISAM-inl.h
@@ -28,6 +28,12 @@
 using namespace std;
 using namespace gtsam;
 
+/* ************************************************************************* */
+template<class GRAPH>
+void NonlinearISAM<GRAPH>::saveGraph(const std::string& s) const {
+  isam_.saveGraph(s);
+}
+
 /* ************************************************************************* */
 template<class GRAPH>
 void NonlinearISAM<GRAPH>::update(const Factors& newFactors,
diff --git a/gtsam/nonlinear/NonlinearISAM.h b/gtsam/nonlinear/NonlinearISAM.h
index 16547770b..54dc92a23 100644
--- a/gtsam/nonlinear/NonlinearISAM.h
+++ b/gtsam/nonlinear/NonlinearISAM.h
@@ -93,6 +93,9 @@ public:
 	/** prints out all contents of the system */
 	void print(const std::string& s="") const;
 
+  /** saves the Tree to a text file in GraphViz format */
+  void saveGraph(const std::string& s) const;
+
 	/// @}
 	/// @name Advanced Interface
 	/// @{