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Added access to the set of fixed variables (the variables involved in 

linear marginal factors) from iSAM2
release/4.3a0
Stephen Williams 2013-08-10 17:15:56 +00:00
parent c33c6e2c70
commit 485624f8d6
1 changed files with 4 additions and 1 deletions
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5
gtsam/nonlinear/ISAM2.h
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@ -562,7 +562,7 @@ public:
* requested to be marginalized. Marginalization leaves a linear * requested to be marginalized. Marginalization leaves a linear
* approximation of the marginal in the system, and the linearization points * approximation of the marginal in the system, and the linearization points
* of any variables involved in this linear marginal become fixed. The set * 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. * in the original factors, and possibly additional ones due to fill-in.
*/ */
GTSAM_EXPORT void marginalizeLeaves(const FastList<Key>& leafKeys); GTSAM_EXPORT void marginalizeLeaves(const FastList<Key>& leafKeys);
@ -619,6 +619,9 @@ public:
/** Access the nonlinear variable index */ /** Access the nonlinear variable index */
GTSAM_EXPORT const VariableIndex& getVariableIndex() const { return variableIndex_; } GTSAM_EXPORT const VariableIndex& getVariableIndex() const { return variableIndex_; }
/** Access the nonlinear variable index */
GTSAM_EXPORT const FastSet<Key>& getFixedVariables() const { return fixedVariables_; }
size_t lastAffectedVariableCount; size_t lastAffectedVariableCount;
size_t lastAffectedFactorCount; size_t lastAffectedFactorCount;
size_t lastAffectedCliqueCount; size_t lastAffectedCliqueCount;