From 0b89d2d7abf328214f1bf5478b67a9c260add087 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 29 Nov 2021 19:52:49 -0500
Subject: [PATCH] wrap alternate ISAM2::update method

---
 gtsam/nonlinear/nonlinear.i | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index aa595d544..152c4b8e7 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -738,6 +738,10 @@ class ISAM2 {
                             const gtsam::KeyList& extraReelimKeys,
                             bool force_relinearize);
 
+  gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
+                            const gtsam::Values& newTheta,
+                            const gtsam::ISAM2UpdateParams& updateParams);
+
   gtsam::Values getLinearizationPoint() const;
   bool valueExists(gtsam::Key key) const;
   gtsam::Values calculateEstimate() const;