From 57578a4793daecb248f3d0118ed8801c130cc70e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 5 Jun 2023 15:42:24 -0400
Subject: [PATCH] Wrap ManifoldEvaluationFactor for both Rot3 and Pose3

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

diff --git a/gtsam/basis/basis.i b/gtsam/basis/basis.i
index 0cd87ba65..5ff4e777c 100644
--- a/gtsam/basis/basis.i
+++ b/gtsam/basis/basis.i
@@ -121,6 +121,13 @@ virtual class ManifoldEvaluationFactor : gtsam::NoiseModelFactor {
                            double x, double a, double b);
 };
 
+#include <gtsam/geometry/Pose3.h>
+
+typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Rot3>
+    ManifoldEvaluationFactorChebyshev2Rot3;
+typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Pose3>
+    ManifoldEvaluationFactorChebyshev2Pose3;
+
 // TODO(gerry): Add `DerivativeFactor`, `VectorDerivativeFactor`, and
 // `ComponentDerivativeFactor`