From f427b0411b0118c9e28edc9fbd73c3e01efd911d Mon Sep 17 00:00:00 2001
From: Jeff Powers <jeff@arcturus.industries>
Date: Sat, 31 Dec 2022 17:19:10 -0600
Subject: [PATCH] Expose GaussianFactorGraph::optimizeDensely and
 VectorValues::vector(KeyVector) to python

---
 gtsam/linear/linear.i | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index fdf156ff99..0e2708c69b 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -236,6 +236,7 @@ class VectorValues {
   bool equals(const gtsam::VectorValues& expected, double tol) const;
   void insert(size_t j, Vector value);
   Vector vector() const;
+  Vector vector(const gtsam::KeyVector& keys) const;
   Vector at(size_t j) const;
   void update(const gtsam::VectorValues& values);
 
@@ -401,6 +402,7 @@ class GaussianFactorGraph {
 
   // Optimizing and linear algebra
   gtsam::VectorValues optimize() const;
+  gtsam::VectorValues optimizeDensely() const;
   gtsam::VectorValues optimize(const gtsam::Ordering& ordering) const;
   gtsam::VectorValues optimizeGradientSearch() const;
   gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const;