From a25378abe73f0e73c783bd9c05ebd12c95f02b9f Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 6 Feb 2022 20:21:04 -0500
Subject: [PATCH] wrap sampling methods

---
 gtsam/linear/linear.i | 37 ++++++++++++++++++++++++-------------
 1 file changed, 24 insertions(+), 13 deletions(-)

diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index 46c5415aa..113ebb8ec 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -482,15 +482,19 @@ virtual class GaussianConditional : gtsam::JacobianFactor {
                                                       gtsam::Key parent2, 
                                                       const Vector& b,
                                                       double sigma);
-  // Standard Interface
+  // Testable
   void print(string s = "GaussianConditional",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::GaussianConditional& cg, double tol) const;
+  
+  // Standard Interface
   gtsam::Key firstFrontalKey() const;
+  gtsam::VectorValues solve(const gtsam::VectorValues& parents) const;
+  gtsam::VectorValues sample(const gtsam::VectorValues& parents) const;
+  gtsam::VectorValues sample() const;
   
   // Advanced Interface
-  gtsam::VectorValues solve(const gtsam::VectorValues& parents) const;
   gtsam::VectorValues solveOtherRHS(const gtsam::VectorValues& parents,
                                     const gtsam::VectorValues& rhs) const;
   void solveTransposeInPlace(gtsam::VectorValues& gy) const;
@@ -512,11 +516,13 @@ virtual class GaussianDensity : gtsam::GaussianConditional {
                                                   const Vector& mean,
                                                   double sigma);
 
-  // Standard Interface
+  // Testable
   void print(string s = "GaussianDensity",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::GaussianDensity& cg, double tol) const;
+
+  // Standard Interface
   Vector mean() const;
   Matrix covariance() const;
 };
@@ -533,6 +539,21 @@ virtual class GaussianBayesNet {
   bool equals(const gtsam::GaussianBayesNet& other, double tol) const;
   size_t size() const;
 
+  // Standard interface
+  void push_back(gtsam::GaussianConditional* conditional);
+  void push_back(const gtsam::GaussianBayesNet& bayesNet);
+  gtsam::GaussianConditional* front() const;
+  gtsam::GaussianConditional* back() const;
+
+  gtsam::VectorValues optimize() const;
+  gtsam::VectorValues optimize(gtsam::VectorValues given) const;
+  gtsam::VectorValues optimizeGradientSearch() const;
+  
+  gtsam::VectorValues sample(gtsam::VectorValues given) const;
+  gtsam::VectorValues sample() const;
+  gtsam::VectorValues backSubstitute(const gtsam::VectorValues& gx) const;
+  gtsam::VectorValues backSubstituteTranspose(const gtsam::VectorValues& gx) const;
+
   // FactorGraph derived interface
   gtsam::GaussianConditional* at(size_t idx) const;
   gtsam::KeySet keys() const;
@@ -541,22 +562,12 @@ virtual class GaussianBayesNet {
 
   void saveGraph(const string& s) const;
 
-  gtsam::GaussianConditional* front() const;
-  gtsam::GaussianConditional* back() const;
-  void push_back(gtsam::GaussianConditional* conditional);
-  void push_back(const gtsam::GaussianBayesNet& bayesNet);
-
-  gtsam::VectorValues optimize() const;
-  gtsam::VectorValues optimize(gtsam::VectorValues& solutionForMissing) const;
   std::pair<Matrix, Vector> matrix() const; 
-  gtsam::VectorValues optimizeGradientSearch() const;
   gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const;
   gtsam::VectorValues gradientAtZero() const;
   double error(const gtsam::VectorValues& x) const;
   double determinant() const;
   double logDeterminant() const;
-  gtsam::VectorValues backSubstitute(const gtsam::VectorValues& gx) const;
-  gtsam::VectorValues backSubstituteTranspose(const gtsam::VectorValues& gx) const;
 
   string dot(
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,