From f828f3cb2522e0e0c039a93259ac8a39905dacf1 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 27 Nov 2021 18:14:49 -0500
Subject: [PATCH] wrap additional ISAM2 methods

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

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index ecf63094d..79b63ff6a 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -738,7 +738,14 @@ class ISAM2 {
                             const gtsam::KeyList& extraReelimKeys,
                             bool force_relinearize);
 
+  void marginalizeLeaves(
+      const gtsam::KeyList& leafKeys,
+      boost::optional<gtsam::FactorIndices&> marginalFactorIndices =
+          boost::none,
+      boost::optional<gtsam::FactorIndices&> deletedFactorsIndices =
+          boost::none);
   gtsam::Values getLinearizationPoint() const;
+  bool valueExists(gtsam::Key key) const;
   gtsam::Values calculateEstimate() const;
   template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
                      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,