From 40d3badf1f445977bedd5e175e2082f43127308c Mon Sep 17 00:00:00 2001
From: senselessDev <senselessDev@users.noreply.github.com>
Date: Sat, 29 Jan 2022 23:06:53 +0100
Subject: [PATCH] expose iSAM2 parameter factorization enum

---
 gtsam/nonlinear/nonlinear.i | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 293b666ae..68d30c56c 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -598,6 +598,9 @@ class ISAM2Params {
   bool enableDetailedResults;
   bool enablePartialRelinearizationCheck;
   bool findUnusedFactorSlots;
+
+  enum Factorization { CHOLESKY, QR };
+  Factorization factorization;
 };
 
 class ISAM2Clique {