saveGraph

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);

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,

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
 	/// @{