From cd077c336df1e7050082c2ebf09604ff2b9cf316 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 3 May 2015 17:32:13 -0700
Subject: [PATCH] Added Pose3Vector

---
 gtsam.h                | 10 ++++++++++
 gtsam/geometry/Pose3.h |  3 +++
 2 files changed, 13 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index f6a2ed631..282a55a7d 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -576,6 +576,16 @@ class Pose3 {
   void serialize() const;
 };
 
+// std::vector<gtsam::Pose3>
+class Pose3Vector
+{
+  Pose3Vector();
+  size_t size() const;
+  bool empty() const;
+  gtsam::Pose3 at(size_t n) const;
+  void push_back(const gtsam::Pose3& x);
+};
+
 #include <gtsam/geometry/Unit3.h>
 class Unit3 {
   // Standard Constructors
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 4e529ea98..1ea8e8d5c 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -322,6 +322,9 @@ inline Matrix wedge<Pose3>(const Vector& xi) {
 typedef std::pair<Point3, Point3> Point3Pair;
 GTSAM_EXPORT boost::optional<Pose3> align(const std::vector<Point3Pair>& pairs);
 
+// For MATLAB wrapper
+typedef std::vector<Pose3> Pose3Vector;
+
 template<>
 struct traits<Pose3> : public internal::LieGroupTraits<Pose3> {};