Added wrapping for the PCG solver in Cython

gtsam.h

@@ -1937,6 +1937,22 @@ virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParamete
   void print() const;
 };
 
+#include <gtsam/linear/Preconditioner.h>
+virtual class PreconditionerParameters {
+  PreconditionerParameters();
+};
+
+virtual class DummyPreconditionerParameters : gtsam::PreconditionerParameters {
+  DummyPreconditionerParameters();
+};
+
+#include <gtsam/linear/PCGSolver.h>
+virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters {
+  PCGSolverParameters();
+  void print(string s);
+  void setPreconditionerParams(gtsam::PreconditionerParameters* preconditioner);
+};
+
 #include <gtsam/linear/SubgraphSolver.h>
 virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters {
   SubgraphSolverParameters();

gtsam/linear/PCGSolver.cpp

@@ -45,6 +45,17 @@ PCGSolver::PCGSolver(const PCGSolverParameters &p) {
   preconditioner_ = createPreconditioner(p.preconditioner_);
 }
 
+void PCGSolverParameters::setPreconditionerParams(const boost::shared_ptr<PreconditionerParameters> preconditioner) {
+  preconditioner_ = preconditioner;
+}
+
+void PCGSolverParameters::print(const std::string &s) const {
+  std::cout << s << std::endl;;
+  std::ostringstream os;
+  print(os);
+  std::cout << os.str() << std::endl;
+}
+
 /*****************************************************************************/
 VectorValues PCGSolver::optimize(const GaussianFactorGraph &gfg,
     const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,

gtsam/linear/PCGSolver.h

@@ -48,7 +48,11 @@ public:
     return *preconditioner_;
   }
 
+  void print(const std::string &s) const;
+
   boost::shared_ptr<PreconditionerParameters> preconditioner_;
+
+  void setPreconditionerParams(const boost::shared_ptr<PreconditionerParameters> preconditioner);
 };
 
 /**