Access marginalized keys/factors

[navid km]

Hi,

I am using gtsam::IncrementalFixedLagSmoother with smootherLag for marginalization.

I wonder if there is any way to keep track of outdated factors (marginalized) to avoid adding a landmark (BearingRangeFactor) which is already out of sliding window.

The following seems to be the one I need but when i print it, the container is always empty

getISAM2Result().keysWithRemovedFactors

Any idea?

thanks

Navid