From b644aa3fd21eab4f1a00ca7071dfe2af2aee1067 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 6 Feb 2023 11:37:18 -0800
Subject: [PATCH] Add GncOptimizer back into the wrapper

---
 gtsam/nonlinear/nonlinear.i | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index bc14efc20..15f777e7c 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -582,8 +582,7 @@ virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
   double getDelta() const;
 };
   
-/* Not creating bindings to GncOptimizer since the Chi2Inv currently uses boost */
-/* 
+// TODO(dellaert): This will only work when GTSAM_USE_BOOST_FEATURES is true.
 #include <gtsam/nonlinear/GncOptimizer.h>
 template<PARAMS>
 virtual class GncOptimizer {
@@ -600,7 +599,6 @@ virtual class GncOptimizer {
 
 typedef gtsam::GncOptimizer<gtsam::GncParams<gtsam::GaussNewtonParams>> GncGaussNewtonOptimizer;
 typedef gtsam::GncOptimizer<gtsam::GncParams<gtsam::LevenbergMarquardtParams>> GncLMOptimizer;
-*/
 
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {