From e48704d7855e111da019861dbbdb8b9224d5e522 Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Sat, 6 Nov 2021 15:44:40 -0400
Subject: [PATCH] add basic Python interface to .i file

---
 gtsam/geometry/geometry.i | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 9baa49e8e..151c42155 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -890,6 +890,28 @@ class PinholeCamera {
   // enable pickling in python
   void pickle() const;
 };
+  
+#include <gtsam/geometry/Similarity2.h>
+class Similarity2 {
+  // Standard Constructors
+  Similarity2();
+  Similarity2(double s);
+  Similarity2(const gtsam::Rot2& R, const gtsam::Point2& t, double s);
+  Similarity2(const Matrix& R, const Vector& t, double s);
+  Similarity2(const Matrix& T);
+
+  gtsam::Point2 transformFrom(const gtsam::Point2& p) const;
+  gtsam::Pose2 transformFrom(const gtsam::Pose2& T);
+
+  static gtsam::Similarity2 Align(const gtsam::Point2Pairs& abPointPairs);
+  static gtsam::Similarity2 Align(const gtsam::Pose2Pairs& abPosePairs);
+
+  // Standard Interface
+  const Matrix matrix() const;
+  const gtsam::Rot2& rotation();
+  const gtsam::Point2& translation();
+  double scale() const;
+};
 
 #include <gtsam/geometry/Similarity3.h>
 class Similarity3 {