added a getter of time spent in solving

include/core/ceres_wrapper/solver_ceres.h

@@ -119,6 +119,8 @@ class SolverCeres : public SolverManager
 
         double finalCost() override;
 
+        double totalTime() override;
+
         ceres::Solver::Options& getSolverOptions();
 
         const Eigen::SparseMatrixd computeHessian() const;

include/core/solver/solver_manager.h

@@ -131,6 +131,8 @@ class SolverManager
 
         virtual double finalCost() = 0;
 
+        virtual double totalTime() = 0;
+
         /**
          * \brief Updates solver's problem according to the wolf_problem
          */

src/ceres_wrapper/solver_ceres.cpp

@@ -612,6 +612,11 @@ double SolverCeres::finalCost()
     return double(summary_.final_cost);
 }
 
+double SolverCeres::totalTime()
+{
+    return double(summary_.total_time_in_seconds);
+}
+
 ceres::CostFunctionPtr SolverCeres::createCostFunction(const FactorBasePtr& _fac_ptr)
 {
     assert(_fac_ptr != nullptr);

test/dummy/solver_manager_dummy.h

@@ -60,6 +60,7 @@ class SolverManagerDummy : public SolverManager
         SizeStd iterations() override    { return 1;         }
         double  initialCost() override   { return double(1); }
         double  finalCost() override     { return double(0); }
+        double  totalTime() override     { return double(0); }
 
     protected: