From 3299127e6a24ed9a0fc2bbe0ee65cd2a3e6de2c5 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 3 May 2015 18:21:11 -0700
Subject: [PATCH] Optional point

---
 gtsam.h                 | 5 +++++
 gtsam/geometry/Point3.h | 3 +++
 2 files changed, 8 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 282a55a7d..ebc308ff8 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -383,6 +383,11 @@ class Point3 {
   void serialize() const;
 };
 
+class OptionalPoint3 {
+  bool is_initialized() const;
+  gtsam::Point3 value();
+};
+
 class Rot2 {
   // Standard Constructors and Named Constructors
   Rot2();
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 883e5fb62..db6fa4b6e 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -194,6 +194,9 @@ namespace gtsam {
 /// Syntactic sugar for multiplying coordinates by a scalar s*p
 inline Point3 operator*(double s, const Point3& p) { return p*s;}
 
+// For MATLAB wrapper
+typedef boost::optional<Point3> OptionalPoint3;
+
 template<>
 struct traits<Point3> : public internal::VectorSpace<Point3> {};