diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 52f5901ee..fedb28226 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -314,6 +314,14 @@ class DSFMapIndexPair {
   gtsam::IndexPairSetMap sets();
 };
 
+#include <gtsam/base/FastList.h>
+template<VALUE> 
+class FastList {};
+
+#include <gtsam/base/FastMap.h>
+template<KEY, VALUE> 
+class FastMap {};
+
 #include <gtsam/base/Matrix.h>
 bool linear_independent(Matrix A, Matrix B, double tol);
 
@@ -2567,9 +2575,10 @@ class ISAM2 {
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices);
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, const gtsam::KeyGroupMap& constrainedKeys);
-  // TODO: wrap the full version of update
- //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap<Key,int>& constrainedKeys);
-  //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap<Key,int>& constrainedKeys, bool force_relinearize);
+  gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, gtsam::FastMap<gtsam::Key,int>& constrainedKeys);
+  gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, gtsam::FastMap<gtsam::Key,int>& constrainedKeys, const gtsam::FastList<gtsam::Key>& noRelinKeys);
+  gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, gtsam::FastMap<gtsam::Key,int>& constrainedKeys, const gtsam::FastList<gtsam::Key>& noRelinKeys, const gtsam::FastList<gtsam::Key>& extraReelimKeys);
+  gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, gtsam::FastMap<gtsam::Key,int>& constrainedKeys, const gtsam::FastList<gtsam::Key>& noRelinKeys, const gtsam::FastList<gtsam::Key>& extraReelimKeys, bool force_relinearize);
 
   gtsam::Values getLinearizationPoint() const;
   gtsam::Values calculateEstimate() const;
@@ -2701,8 +2710,7 @@ class BearingRange {
   BearingRange(const BEARING& b, const RANGE& r);
   BEARING bearing() const;
   RANGE range() const;
-  // TODO(frank): can't class instance itself?
-  // static gtsam::BearingRange Measure(const POSE& pose, const POINT& point);
+  static gtsam::BearingRange Measure(const POSE& pose, const POINT& point);
   static BEARING MeasureBearing(const POSE& pose, const POINT& point);
   static RANGE MeasureRange(const POSE& pose, const POINT& point);
   void print(string s) const;