From 7ffa54f896fc81c0ab175a45dac117c54809e770 Mon Sep 17 00:00:00 2001
From: akrishnan86 <akrishnan86@gatech.edu>
Date: Sun, 30 Aug 2020 21:53:12 -0700
Subject: [PATCH] TAvg wrapper builds

---
 gtsam/gtsam.i         | 14 ++++++++++----
 gtsam/slam/dataset.h  |  1 +
 python/CMakeLists.txt |  6 ++++--
 3 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index a3d5c1a41..dd98c6f99 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2914,6 +2914,13 @@ class BinaryMeasurement {
 typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3;
 typedef gtsam::BinaryMeasurement<gtsam::Rot3> BinaryMeasurementRot3;
 
+class BinaryMeasurementsUnit3 {
+  BinaryMeasurementsUnit3();
+  size_t size() const;
+  gtsam::BinaryMeasurement<gtsam::Unit3> at(size_t idx) const;
+  void push_back(const gtsam::BinaryMeasurement<gtsam::Unit3> measurement);
+};
+
 #include <gtsam/sfm/ShonanAveraging.h>
 
 // TODO(frank): copy/pasta below until we have integer template paremeters in wrap!
@@ -3035,11 +3042,10 @@ class ShonanAveraging3 {
 
 #include <gtsam/sfm/TranslationRecovery.h>
 class TranslationRecovery {
-  TranslationRecovery(const BinaryMeasurementsUnit3& relativeTranslations,
-                      const LevenbergMarquardtParams& lmParams);
+  TranslationRecovery(const gtsam::BinaryMeasurementsUnit3 &relativeTranslations,
+                      const gtsam::LevenbergMarquardtParams &lmParams);
   TranslationRecovery(
-      const BinaryMeasurementsUnit3&
-          relativeTranslations);  // default LevenbergMarquardtParams
+      const gtsam::BinaryMeasurementsUnit3 & relativeTranslations);  // default LevenbergMarquardtParams
   gtsam::Values run(const double scale) const;
   gtsam::Values run() const;    // default scale = 1.0
 };
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index 7ceca00f4..2c1bb7a1c 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -354,6 +354,7 @@ parse3DFactors(const std::string &filename,
                const noiseModel::Diagonal::shared_ptr &model = nullptr,
                size_t maxIndex = 0);
 
+using BinaryMeasurementsUnit3 = std::vector<BinaryMeasurement<Unit3>>;
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
 inline boost::optional<IndexedPose> parseVertex(std::istream &is,
                                                 const std::string &tag) {
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 23898f61d..fa6ec905f 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -30,7 +30,8 @@ set(ignore
     gtsam::BetweenFactorPose3s
     gtsam::Point2Vector
     gtsam::Pose3Vector
-    gtsam::KeyVector)
+    gtsam::KeyVector
+    gtsam::BinaryMeasurementsUnit3)
 
 pybind_wrap(gtsam_py # target
             ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i # interface_header
@@ -72,7 +73,8 @@ set(ignore
         gtsam::Point2Vector
         gtsam::Pose3Vector
         gtsam::KeyVector
-        gtsam::FixedLagSmootherKeyTimestampMapValue)
+        gtsam::FixedLagSmootherKeyTimestampMapValue
+        gtsam::BinaryMeasurementsUnit3)
 pybind_wrap(gtsam_unstable_py # target
         ${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
         "gtsam_unstable.cpp" # generated_cpp