From 0814efafd7be9a93e29911613c0e2089ec55de4a Mon Sep 17 00:00:00 2001
From: senselessDev <senselessDev@users.noreply.github.com>
Date: Sat, 22 Jan 2022 15:35:53 +0100
Subject: [PATCH] expose some iSAM2/FixedLagSmoothing functionality for the
 bindings

---
 gtsam/nonlinear/ISAM2Params.h   | 7 +++++++
 gtsam/nonlinear/nonlinear.i     | 3 +++
 gtsam_unstable/gtsam_unstable.i | 6 ++++++
 3 files changed, 16 insertions(+)

diff --git a/gtsam/nonlinear/ISAM2Params.h b/gtsam/nonlinear/ISAM2Params.h
index c6e1001c4..a939ab691 100644
--- a/gtsam/nonlinear/ISAM2Params.h
+++ b/gtsam/nonlinear/ISAM2Params.h
@@ -313,6 +313,10 @@ struct GTSAM_EXPORT ISAM2Params {
     return enablePartialRelinearizationCheck;
   }
 
+  bool isFindUnusedFactorSlots() const {
+    return findUnusedFactorSlots;
+  }
+
   void setOptimizationParams(OptimizationParams optimizationParams) {
     this->optimizationParams = optimizationParams;
   }
@@ -344,6 +348,9 @@ struct GTSAM_EXPORT ISAM2Params {
       bool enablePartialRelinearizationCheck) {
     this->enablePartialRelinearizationCheck = enablePartialRelinearizationCheck;
   }
+  void setFindUnusedFactorSlots(bool findUnusedFactorSlots) {
+    this->findUnusedFactorSlots = findUnusedFactorSlots;
+  }
 
   GaussianFactorGraph::Eliminate getEliminationFunction() const {
     return factorization == CHOLESKY
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 84c4939f4..bc07c334b 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -696,6 +696,9 @@ class ISAM2Params {
   bool isEnablePartialRelinearizationCheck() const;
   void setEnablePartialRelinearizationCheck(
       bool enablePartialRelinearizationCheck);
+  bool isFindUnusedFactorSlots() const;
+  void setFindUnusedFactorSlots(bool findUnusedFactorSlots);
+
 };
 
 class ISAM2Clique {
diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index 8c9345147..b7de97be3 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -567,6 +567,10 @@ virtual class FixedLagSmoother {
   double smootherLag() const;
 
   gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FixedLagSmootherKeyTimestampMap& timestamps);
+  gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph &newFactors,
+                                       const gtsam::Values &newTheta,
+                                       const gtsam::FixedLagSmootherKeyTimestampMap &timestamps,
+                                       const gtsam::FactorIndices &factorsToRemove);
   gtsam::Values calculateEstimate() const;
 };
 
@@ -590,6 +594,8 @@ virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
   IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params);
 
   gtsam::ISAM2Params params() const;
+
+  gtsam::NonlinearFactorGraph getFactors() const;
 };
 
 #include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h>