handle some TODOs
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				|  | @ -73,8 +73,7 @@ class GncParams { | |||
|   double weightsTol = 1e-4;  ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS)
 | ||||
|   Verbosity verbosity = SILENT;  ///< Verbosity level
 | ||||
| 
 | ||||
|   //TODO(Varun) replace IndexVector with vector<size_t> once pybind11/stl.h is globally enabled.
 | ||||
|   /// Use IndexVector for inliers and outliers since it is fast + wrapping
 | ||||
|   /// Use IndexVector for inliers and outliers since it is fast
 | ||||
|   using IndexVector = FastVector<uint64_t>; | ||||
|   ///< Slots in the factor graph corresponding to measurements that we know are inliers
 | ||||
|   IndexVector knownInliers = IndexVector(); | ||||
|  |  | |||
|  | @ -305,8 +305,8 @@ virtual class GncParams { | |||
|   double relativeCostTol; | ||||
|   double weightsTol; | ||||
|   gtsam::This::Verbosity verbosity; | ||||
|   gtsam::KeyVector knownInliers; | ||||
|   gtsam::KeyVector knownOutliers; | ||||
|   gtsam::This::IndexVector knownInliers; | ||||
|   gtsam::This::IndexVector knownOutliers; | ||||
| 
 | ||||
|   void setLossType(const gtsam::GncLossType type); | ||||
|   void setMaxIterations(const size_t maxIter); | ||||
|  | @ -314,8 +314,8 @@ virtual class GncParams { | |||
|   void setRelativeCostTol(double value); | ||||
|   void setWeightsTol(double value); | ||||
|   void setVerbosityGNC(const gtsam::This::Verbosity value); | ||||
|   void setKnownInliers(const gtsam::KeyVector& knownIn); | ||||
|   void setKnownOutliers(const gtsam::KeyVector& knownOut); | ||||
|   void setKnownInliers(const gtsam::This::IndexVector& knownIn); | ||||
|   void setKnownOutliers(const gtsam::This::IndexVector& knownOut); | ||||
|   void print(const string& str = "GncParams: ") const; | ||||
|    | ||||
|   enum Verbosity { | ||||
|  |  | |||
|  | @ -225,10 +225,9 @@ class ShonanAveraging3 { | |||
|   ShonanAveraging3(string g2oFile, | ||||
|                    const gtsam::ShonanAveragingParameters3& parameters); | ||||
| 
 | ||||
|   // TODO(frank): deprecate once we land pybind wrapper | ||||
|   ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors); | ||||
|   ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors, | ||||
|                    const gtsam::ShonanAveragingParameters3& parameters); | ||||
|                    const gtsam::ShonanAveragingParameters3& parameters = | ||||
|                        gtsam::ShonanAveragingParameters3()); | ||||
| 
 | ||||
|   // Query properties | ||||
|   size_t nrUnknowns() const; | ||||
|  |  | |||
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