From bee289880ab684017d0f3104620197e59dc20e81 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 29 Nov 2021 19:39:41 -0500
Subject: [PATCH] wrap other ISAM2 methods

---
 gtsam/nonlinear/nonlinear.i | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 4d81049ea..aa595d544 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -749,12 +749,17 @@ class ISAM2 {
                      gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
                      gtsam::PinholeCamera<gtsam::Cal3Unified>, Vector, Matrix}>
   VALUE calculateEstimate(size_t key) const;
-  gtsam::Values calculateBestEstimate() const;
   Matrix marginalCovariance(size_t key) const;
+  gtsam::Values calculateBestEstimate() const;
   gtsam::VectorValues getDelta() const;
+  double error(const gtsam::VectorValues& x) const;
   gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
   gtsam::VariableIndex getVariableIndex() const;
+  const gtsam::KeySet& getFixedVariables() const;
   gtsam::ISAM2Params params() const;
+
+  void printStats() const;
+  gtsam::VectorValues gradientAtZero() const;
 };
 
 #include <gtsam/nonlinear/NonlinearISAM.h>