From 9fd745156ed761bf6f9a034a2fc9d2967d5093f9 Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Sat, 6 Nov 2021 17:37:58 -0400
Subject: [PATCH] add Pose2Pair typedef

---
 gtsam/geometry/Pose2.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index a54951728..12087a34c 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -322,6 +322,10 @@ inline Matrix wedge<Pose2>(const Vector& xi) {
 typedef std::pair<Point2,Point2> Point2Pair;
 GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
 
+// Convenience typedef
+using Pose2Pair = std::pair<Pose2, Pose2>;
+using Pose2Pairs = std::vector<std::pair<Pose2, Pose2> >;
+	
 template <>
 struct traits<Pose2> : public internal::LieGroup<Pose2> {};