diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i index 9bdbe298d..5ec31eeed 100644 --- a/gtsam/gtsam.i +++ b/gtsam/gtsam.i @@ -1080,6 +1080,7 @@ class PointPairs }; class Similarity3 { + // Standard Constructors Similarity3(); Similarity3(double s); Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s); @@ -1089,7 +1090,11 @@ class Similarity3 { static Similarity3 Align(const gtsam::PointPairs & abPointPairs); static Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs); - + // Standard Interface + const Matrix matrix() const; + const gtsam::Rot3& rotation(); + const gtsam::Point3& translation(); + double scale() const; };