From 29f62f1d03b719f9c5a6a1b5efae98fc3e710778 Mon Sep 17 00:00:00 2001
From: p-zach <porterdzach@gmail.com>
Date: Wed, 16 Apr 2025 00:40:21 -0400
Subject: [PATCH] GaussianISAM interface

---
 gtsam/linear/linear.i | 9 +++++++++
 1 file changed, 9 insertions(+)

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 <gtsam/linear/IterativeSolver.h>