Wrap additional ISAM2 methods

[varunagrawal]

Wrapping additional methods in ISAM2 needed for legged state estimation.

[dellaert]

Confused. Most additions are commented out. Make draft PR until finalized.

[varunagrawal]

Okay removed out the commented stuff. That was my mistake, I added those in as part of another change not related to this PR. Thank you for catching them. 🙂

[dellaert]

LGTM, but is that the only method you want to add? Are there others public methods that could easily be added in the same PR?

[varunagrawal]

No other methods so far that we need for MHS + State Estimator. If we find something, we can make a PR for then.

[dellaert]

My question was not about MHS, but expanding this PR to include other methods now that are easily wrapped.

[varunagrawal]

We can. It just depends on the requirements. My comment about MHS is that the current wrapped method is all I need so I didn't spend too much time looking at other methods.

[dellaert]

OK, you're (choosing) to not hear me :-) For this GTSAM PR, please also wrap any other easy wrap-able functions before merging, so GTSAM users have this convenience in the future.

[varunagrawal]

Gotcha

[dellaert]

Cool, thanks !!!