From 995e907e6226909d565307a10e7055e4efd4345a Mon Sep 17 00:00:00 2001
From: Dan McGann <dmcgann@andrew.cmu.edu>
Date: Mon, 27 Mar 2023 18:05:18 -0400
Subject: [PATCH] Extends python iface Pose2 component jacobians

---
 gtsam/geometry/geometry.i | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 2f1810dbb..06c067819 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -424,7 +424,9 @@ class Pose2 {
   gtsam::Rot2 bearing(const gtsam::Point2& point) const;
   double range(const gtsam::Point2& point) const;
   gtsam::Point2 translation() const;
+  gtsam::Point2 translation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
   gtsam::Rot2 rotation() const;
+  gtsam::Rot2 rotation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
   Matrix matrix() const;
 
   // enabling serialization functionality