From 4037d1ec1af5f76eab4a17aef65ff078a3b54ed9 Mon Sep 17 00:00:00 2001
From: thduynguyen <thduynguyen@gmail.com>
Date: Wed, 7 May 2014 08:34:04 -0400
Subject: [PATCH] wrap QPSolver

---
 gtsam.h | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 678e2a3d6..7619c7854 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1539,6 +1539,15 @@ class KalmanFilter {
       Vector z, Matrix Q);
 };
 
+#include <gtsam/linear/QPSolver.h>
+class QPSolver {
+  QPSolver(const gtsam::GaussianFactorGraph &graph);
+  pair<gtsam::VectorValues, gtsam::VectorValues> optimize(const gtsam::VectorValues& initials) const;
+  pair<gtsam::VectorValues, gtsam::VectorValues> optimize() const;
+  pair<bool, gtsam::VectorValues> findFeasibleInitialValues() const;
+};
+
+
 //*************************************************************************
 // nonlinear
 //*************************************************************************