From cfb24048d97ca3dffef909f4436b47c9714ead83 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 21 Dec 2011 17:41:15 +0000
Subject: [PATCH] Added accessor functions for robust and noise model in
 noiseModel::Robust

---
 gtsam/linear/NoiseModel.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 7eb0116d1..ee5d9e00c 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -697,6 +697,12 @@ namespace gtsam {
       virtual void print(const std::string& name) const;
       virtual bool equals(const Base& expected, double tol=1e-9) const;
 
+      /// Return the contained robust error function
+      const RobustModel::shared_ptr& robust() const { return robust_; }
+
+      /// Return the contained noise model
+      const NoiseModel::shared_ptr& noise() const { return noise_; }
+
       // TODO: all function below are dummy but necessary for the noiseModel::Base
 
       inline virtual Vector whiten(const Vector& v) const