From 87c336fce363fc7f7c87db5985ae6d8aa3800db2 Mon Sep 17 00:00:00 2001
From: Alice Anderson <alice@example.com>
Date: Thu, 29 Aug 2019 08:15:00 -0700
Subject: [PATCH] Added Welsch model to gtsam.h

---
 gtsam.h | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index 0ac2d4ad1..bf3575580 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -252,9 +252,9 @@ class FactorIndices {
 bool isDebugVersion();
 
 #include <gtsam/base/DSFMap.h>
-class IndexPair { 
-  IndexPair(); 
-  IndexPair(size_t i, size_t j); 
+class IndexPair {
+  IndexPair();
+  IndexPair(size_t i, size_t j);
   size_t i() const;
   size_t j() const;
 };
@@ -1388,6 +1388,15 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
   void serializable() const;
 };
 
+virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
+  Welsch(double k);
+  static gtsam::noiseModel::mEstimator::Welsch* Create(double k);
+
+  // enabling serialization functionality
+  void serializable() const;
+};
+
+
 }///\namespace mEstimator
 
 virtual class Robust : gtsam::noiseModel::Base {