diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h index ae7e87429551b5e89184d109a44b7c5edcb5d302..240e563eb16412e4aa9a5af529db0af491060437 100644 --- a/include/core/solver/solver_manager.h +++ b/include/core/solver/solver_manager.h @@ -67,6 +67,10 @@ public: ProblemPtr getProblem(); + virtual bool isRegistered(const StateBlockPtr& state_ptr) = 0; + + virtual bool isRegistered(const FactorBasePtr& fac_ptr) = 0; + protected: std::map<StateBlockPtr, Eigen::VectorXs> state_blocks_;