diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index d4a045f09..640a1a1a4 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -127,7 +127,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base {
 };
 
 virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
-  Cauchy(double k);
+  Cauchy(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
   static gtsam::noiseModel::mEstimator::Cauchy* Create(double k);
 
   // enabling serialization functionality
@@ -138,7 +138,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
 };
 
 virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
-  Tukey(double k);
+  Tukey(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
   static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
 
   // enabling serialization functionality
@@ -149,7 +149,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
 };
 
 virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
-  Welsch(double k);
+  Welsch(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
   static gtsam::noiseModel::mEstimator::Welsch* Create(double k);
 
   // enabling serialization functionality
@@ -160,7 +160,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
 };
 
 virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
-  GemanMcClure(double c);
+  GemanMcClure(double c, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
   static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double c);
 
   // enabling serialization functionality
@@ -171,7 +171,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
 };
 
 virtual class DCS: gtsam::noiseModel::mEstimator::Base {
-  DCS(double c);
+  DCS(double c, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
   static gtsam::noiseModel::mEstimator::DCS* Create(double c);
 
   // enabling serialization functionality
@@ -182,7 +182,7 @@ virtual class DCS: gtsam::noiseModel::mEstimator::Base {
 };
 
 virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base {
-  L2WithDeadZone(double k);
+  L2WithDeadZone(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
   static gtsam::noiseModel::mEstimator::L2WithDeadZone* Create(double k);
 
   // enabling serialization functionality
@@ -203,6 +203,28 @@ virtual class AsymmetricTukey: gtsam::noiseModel::mEstimator::Base {
   double loss(double error) const;
 };
 
+virtual class AsymmetricCauchy: gtsam::noiseModel::mEstimator::Base {
+  AsymmetricCauchy(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
+  static gtsam::noiseModel::mEstimator::AsymmetricCauchy* Create(double k);
+
+  // enabling serialization functionality
+  void serializable() const;
+
+  double weight(double error) const;
+  double loss(double error) const;
+};
+
+virtual class TwoSidedHuberCauchy: gtsam::noiseModel::mEstimator::Base {
+  TwoSidedHuberCauchy(double k, double k_huber, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
+  static gtsam::noiseModel::mEstimator::TwoSidedHuberCauchy* Create(double k);
+
+  // enabling serialization functionality
+  void serializable() const;
+
+  double weight(double error) const;
+  double loss(double error) const;
+};
+
 virtual class Custom: gtsam::noiseModel::mEstimator::Base {
   Custom(gtsam::noiseModel::mEstimator::CustomWeightFunction weight,
          gtsam::noiseModel::mEstimator::CustomLossFunction loss,
@@ -356,6 +378,8 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
   void serialize() const;
 };
 
+pair<gtsam::GaussianConditional, gtsam::JacobianFactor*> EliminateQR(const gtsam::GaussianFactorGraph& factors, const gtsam::Ordering& keys);
+
 #include <gtsam/linear/HessianFactor.h>
 virtual class HessianFactor : gtsam::GaussianFactor {
   //Constructors