From 17842dcea7ed5ae377a5b9f57fdfb45a3a2b0291 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 11 Jul 2021 08:10:11 -0700
Subject: [PATCH] fixes

---
 gtsam/geometry/geometry.i                | 1 +
 python/gtsam_unstable/gtsam_unstable.tpl | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index a39c22797..6217d9e80 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -459,6 +459,7 @@ class Pose3 {
   // Lie Group
   static gtsam::Pose3 Expmap(Vector v);
   static Vector Logmap(const gtsam::Pose3& pose);
+  gtsam::Pose3 expmap(Vector v);
   Vector logmap(const gtsam::Pose3& pose);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
diff --git a/python/gtsam_unstable/gtsam_unstable.tpl b/python/gtsam_unstable/gtsam_unstable.tpl
index c1033ba43..aa7ac6bdb 100644
--- a/python/gtsam_unstable/gtsam_unstable.tpl
+++ b/python/gtsam_unstable/gtsam_unstable.tpl
@@ -16,7 +16,7 @@
 #include <pybind11/functional.h>
 #include <pybind11/iostream.h>
 #include "gtsam/base/serialization.h"
-#include "gtsam/nonlinear/utilities.h"  // for RedirectCout.
+#include "gtsam/base/utilities.h"  // for RedirectCout.
 
 // These are the included headers listed in `gtsam_unstable.i`
 {includes}