diff --git a/gtsam.h b/gtsam.h
index bf3575580..23590f5f8 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1362,6 +1362,8 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base {
 
   // enabling serialization functionality
   void serializable() const;
+
+  double weight(double error) const;
 };
 
 virtual class Fair: gtsam::noiseModel::mEstimator::Base {
@@ -1370,6 +1372,8 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base {
 
   // enabling serialization functionality
   void serializable() const;
+
+  double weight(double error) const;
 };
 
 virtual class Huber: gtsam::noiseModel::mEstimator::Base {
@@ -1378,6 +1382,18 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base {
 
   // enabling serialization functionality
   void serializable() const;
+
+  double weight(double error) const;
+};
+
+virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
+  Cauchy(double k);
+  static gtsam::noiseModel::mEstimator::Cauchy* Create(double k);
+
+  // enabling serialization functionality
+  void serializable() const;
+
+  double weight(double error) const;
 };
 
 virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
@@ -1386,6 +1402,8 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
 
   // enabling serialization functionality
   void serializable() const;
+
+  double weight(double error) const;
 };
 
 virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
@@ -1394,8 +1412,21 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
 
   // enabling serialization functionality
   void serializable() const;
+
+  double weight(double error) const;
 };
 
+virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
+  GemanMcClure(double k);
+  static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double k);
+
+  // enabling serialization functionality
+  void serializable() const;
+
+  double weight(double error) const;
+};
+
+//TODO DCS and L2WithDeadZone mEstimators
 
 }///\namespace mEstimator