Wrap few more missing methods on ISAM2 and NonlinearFactorGraph

python/handwritten/nonlinear/ISAM2.cpp

@@ -40,6 +40,7 @@ class_<ISAM2Result>("ISAM2Result")
 Values (ISAM2::*calculateEstimate_0)() const = &ISAM2::calculateEstimate;
 
 class_<ISAM2>("ISAM2")
+  .def(init<const ISAM2Params &>())
   // TODO(Ellon): wrap all optional values of update
   .def("update",&ISAM2::update, update_overloads())
   .def("calculate_estimate", calculateEstimate_0)

python/handwritten/nonlinear/NonlinearFactorGraph.cpp

@@ -38,6 +38,8 @@ void exportNonlinearFactorGraph(){
     .def("size",&NonlinearFactorGraph::size)  
     .def("push_back", push_back1)
     .def("add", add1)
+    .def("resize", &NonlinearFactorGraph::resize)
+    .def("empty", &NonlinearFactorGraph::empty)
   ;
 
 }