diff --git a/include/base/ceres_wrapper/ceres_manager.h b/include/base/ceres_wrapper/ceres_manager.h index 013fc0e03b5ec85b5b21c53e527ceed026bdf62b..23a938b343f47712da93b7ef8c19880b464e87ba 100644 --- a/include/base/ceres_wrapper/ceres_manager.h +++ b/include/base/ceres_wrapper/ceres_manager.h @@ -48,6 +48,11 @@ class CeresManager : public SolverManager ceres::Solver::Summary getSummary(); + std::unique_ptr<ceres::Problem>& getCeresProblemPtr() + { + return ceres_problem_; + } + virtual void computeCovariances(CovarianceBlocksToBeComputed _blocks = CovarianceBlocksToBeComputed::ROBOT_LANDMARKS) override;