private constraint and localparam for wrappers, getters added

src/ceres_wrapper/cost_function_wrapper.h

@@ -17,14 +17,19 @@ WOLF_PTR_TYPEDEFS(CostFunctionWrapper);
 
 class CostFunctionWrapper : public ceres::CostFunction
 {
-    public:
+    private:
+
         ConstraintBasePtr constraint_ptr_;
 
+    public:
+
         CostFunctionWrapper(ConstraintBasePtr _constraint_ptr);
 
         virtual ~CostFunctionWrapper();
 
         virtual bool Evaluate(const double* const * parameters, double* residuals, double** jacobians) const;
+
+        ConstraintBasePtr getConstraintPtr() const;
 };
 
 inline CostFunctionWrapper::CostFunctionWrapper(ConstraintBasePtr _constraint_ptr) :
@@ -44,6 +49,11 @@ inline bool CostFunctionWrapper::Evaluate(const double* const * parameters, doub
     return constraint_ptr_->evaluate(parameters, residuals, jacobians);
 }
 
+inline ConstraintBasePtr CostFunctionWrapper::getConstraintPtr() const
+{
+    return constraint_ptr_;
+}
+
 } // namespace wolf
 
 

src/ceres_wrapper/local_parametrization_wrapper.h

@@ -30,6 +30,8 @@ class LocalParametrizationWrapper : public ceres::LocalParameterization
         virtual int GlobalSize() const;
 
         virtual int LocalSize() const;
+
+        LocalParametrizationBasePtr getLocalParametrizationPtr() const;
 };
 
 using LocalParametrizationWrapperPtr = std::shared_ptr<LocalParametrizationWrapper>;
@@ -55,6 +57,11 @@ inline int LocalParametrizationWrapper::LocalSize() const
     return local_parametrization_ptr_->getLocalSize();
 }
 
+inline LocalParametrizationBasePtr LocalParametrizationWrapper::getLocalParametrizationPtr() const
+{
+    return local_parametrization_ptr_;
+}
+
 } // namespace wolf
 
 #endif