From 06e6aa918f1c499bff50127e22ef0183b655e14d Mon Sep 17 00:00:00 2001
From: John Lambert <johnwl@stanford.edu>
Date: Fri, 26 Feb 2021 08:25:28 -0500
Subject: [PATCH] add standard interface for Sim3 in wrapper

---
 gtsam/gtsam.i | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

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;
 };