From 4c8d2675cfe25bf97003bf74aa0c83ee8cdaf65b Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Thu, 22 Jan 2015 02:20:57 -0500
Subject: [PATCH] add expressions

---
 gtsam/nonlinear/expressions.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/nonlinear/expressions.h b/gtsam/nonlinear/expressions.h
index c496834d4..efbf207d4 100644
--- a/gtsam/nonlinear/expressions.h
+++ b/gtsam/nonlinear/expressions.h
@@ -18,6 +18,11 @@ Expression<T> between(const Expression<T>& t1, const Expression<T>& t2) {
   return Expression<T>(traits<T>::Between, t1, t2);
 }
 
+template<typename T>
+Expression<T> compose(const Expression<T>& t1, const Expression<T>& t2) {
+  return Expression<T>(traits<T>::Compose, t1, t2);
+}
+
 typedef Expression<double> Double_;
 typedef Expression<Vector3> Vector3_;