diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i index 3ad6be6c4..4b6498424 100644 --- a/gtsam/linear/linear.i +++ b/gtsam/linear/linear.i @@ -704,11 +704,20 @@ virtual class GaussianEliminationTree { class GaussianISAM { //Constructor GaussianISAM(); + GaussianISAM(const gtsam::GaussianBayesTree& bayesTree); + + gtsam::VectorValues optimize() const; + gtsam::VectorValues optimizeGradientSearch() const; + + gtsam::GaussianConditional* marginalFactor(size_t key) const; //Standard Interface void update(const gtsam::GaussianFactorGraph& newFactors); void saveGraph(string s) const; void clear(); + + void print(const string name = "GaussianISAM: ", + const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const; }; #include