From 334e4820b24c6e7cda7ca647a89b9e354712e449 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 12 Feb 2019 15:17:54 +0100
Subject: [PATCH] Required for testing
---
include/base/ceres_wrapper/ceres_manager.h | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/include/base/ceres_wrapper/ceres_manager.h b/include/base/ceres_wrapper/ceres_manager.h
index 013fc0e03..23a938b34 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;
--
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