From 13c164f25d4683bd1720b564ee3dcbf67b4ffff5 Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Mon, 30 Aug 2021 16:38:47 -0400
Subject: [PATCH] add Pose2.align() to wrapper

---
 gtsam/geometry/geometry.i | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 0e303cbcd..c495c22d9 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -31,6 +31,14 @@ class Point2 {
   // enable pickling in python
   void pickle() const;
 };
+  
+class Point2Pairs {
+  Point2Pairs();
+  size_t size() const;
+  bool empty() const;
+  gtsam::Point2Pair at(size_t n) const;
+  void push_back(const gtsam::Point2Pair& point_pair);
+};
 
 // std::vector<gtsam::Point2>
 class Point2Vector {
@@ -428,6 +436,8 @@ class Pose2 {
 
   // enable pickling in python
   void pickle() const;
+  
+  gtsam::Pose2 align(const gtsam::Point2Pairs& pairs);
 };
 
 #include <gtsam/geometry/Pose3.h>