From c251487bafb57b2d25cd3f7e7748b2266bd52f30 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sat, 27 Oct 2012 19:45:30 +0000
Subject: [PATCH] Wrapped GaussianMultifrontalSolver

---
 gtsam.h | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 9e5fa42ce..d8b92d130 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1316,6 +1316,20 @@ class GaussianSequentialSolver {
   Matrix marginalCovariance(size_t j) const;
 };
 
+#include <gtsam/linear/GaussianMultifrontalSolver.h>
+class GaussianMultifrontalSolver {
+  //Constructors
+  GaussianMultifrontalSolver(const gtsam::GaussianFactorGraph& graph,
+    bool useQR);
+
+  //Standard Interface
+  void replaceFactors(const gtsam::GaussianFactorGraph* factorGraph);
+  gtsam::GaussianBayesTree* eliminate() const;
+  gtsam::VectorValues* optimize() const;
+  gtsam::GaussianFactor* marginalFactor(size_t j) const;
+  Matrix marginalCovariance(size_t j) const;
+};
+
 #include <gtsam/linear/IterativeSolver.h>
 virtual class IterativeOptimizationParameters {
   string getKernel() const ;