From 485624f8d6a5afd09c7967d9a3a9c7e63810e573 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sat, 10 Aug 2013 17:15:56 +0000 Subject: [PATCH] Added access to the set of fixed variables (the variables involved in linear marginal factors) from iSAM2 --- gtsam/nonlinear/ISAM2.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index fb7762ffa..343b0b0a6 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -562,7 +562,7 @@ public: * requested to be marginalized. Marginalization leaves a linear * approximation of the marginal in the system, and the linearization points * of any variables involved in this linear marginal become fixed. The set - * fixed variables will include any involved with the marginalized variables + * fixed variables will include any key involved with the marginalized variables * in the original factors, and possibly additional ones due to fill-in. */ GTSAM_EXPORT void marginalizeLeaves(const FastList& leafKeys); @@ -619,6 +619,9 @@ public: /** Access the nonlinear variable index */ GTSAM_EXPORT const VariableIndex& getVariableIndex() const { return variableIndex_; } + /** Access the nonlinear variable index */ + GTSAM_EXPORT const FastSet& getFixedVariables() const { return fixedVariables_; } + size_t lastAffectedVariableCount; size_t lastAffectedFactorCount; size_t lastAffectedCliqueCount;