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add Pose2Pair typedef

release/4.3a0
John Lambert 2021-11-06 17:37:58 -04:00 committed by GitHub
parent 8e9815b270
commit 9fd745156e
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gtsam/geometry/Pose2.h
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@ -322,6 +322,10 @@ inline Matrix wedge<Pose2>(const Vector& xi) {
typedef std::pair<Point2,Point2> Point2Pair; typedef std::pair<Point2,Point2> Point2Pair;
GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs); 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 <> template <>
struct traits<Pose2> : public internal::LieGroup<Pose2> {}; struct traits<Pose2> : public internal::LieGroup<Pose2> {};