Merge pull request #518 from borglab/feature/isam2-error

ISAM2 Evaluate Nonlinear Error
borglab · Sep 29, 2020 · 182dfbd · 182dfbd
2 parents b89478c + 717dbc8
commit 182dfbd
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diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
@@ -2462,6 +2462,8 @@ class ISAM2Result {
   size_t getVariablesRelinearized() const;
   size_t getVariablesReeliminated() const;
   size_t getCliques() const;
+  double getErrorBefore() const;
+  double getErrorAfter() const;
 };
 
 class ISAM2 {

diff --git a/gtsam/nonlinear/ISAM2Result.h b/gtsam/nonlinear/ISAM2Result.h
@@ -176,6 +176,8 @@ struct ISAM2Result {
   size_t getVariablesRelinearized() const { return variablesRelinearized; }
   size_t getVariablesReeliminated() const { return variablesReeliminated; }
   size_t getCliques() const { return cliques; }
+  double getErrorBefore() const { return errorBefore ? *errorBefore : std::nan(""); }
+  double getErrorAfter() const { return errorAfter ? *errorAfter : std::nan(""); }
 };
 
 }  // namespace gtsam