From f5bb8c6507fa3de29657ae5cbd2d6ca5e8e8ba77 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 18 Sep 2013 17:23:33 +0000
Subject: [PATCH] Added missing MATLAB wrapping of GaussianFactorGraph
 elimination functions

---
 gtsam.h | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 20b72bf7b..125f3ba6c 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1273,6 +1273,27 @@ class GaussianFactorGraph {
   gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const;
   gtsam::VectorValues gradientAtZero() const;
 
+  // Elimination and marginals
+  gtsam::GaussianBayesNet* eliminateSequential();
+  gtsam::GaussianBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
+  gtsam::GaussianBayesTree* eliminateMultifrontal();
+  gtsam::GaussianBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering);
+  pair<gtsam::GaussianBayesNet*, gtsam::GaussianFactorGraph*> eliminatePartialSequential(
+    const gtsam::Ordering& ordering);
+  pair<gtsam::GaussianBayesNet*, gtsam::GaussianFactorGraph*> eliminatePartialSequential(
+    const gtsam::KeyVector& keys);
+  pair<gtsam::GaussianBayesTree*, gtsam::GaussianFactorGraph*> eliminatePartialMultifrontal(
+    const gtsam::Ordering& ordering);
+  pair<gtsam::GaussianBayesTree*, gtsam::GaussianFactorGraph*> eliminatePartialMultifrontal(
+    const gtsam::KeyVector& keys);
+  gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables);
+  gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables);
+  gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables,
+    const gtsam::Ordering& marginalizedVariableOrdering);
+  gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables,
+    const gtsam::Ordering& marginalizedVariableOrdering);
+  gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& variables);
+
   // Conversion to matrices
   Matrix sparseJacobian_() const;
   Matrix augmentedJacobian() const;