From 95459e7cc7d8b5dc5228597e217d92bb999aea2a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Fri, 30 Nov 2018 15:53:21 +0100
Subject: [PATCH] private constraint and localparam for wrappers, getters added
---
src/ceres_wrapper/cost_function_wrapper.h | 12 +++++++++++-
src/ceres_wrapper/local_parametrization_wrapper.h | 7 +++++++
2 files changed, 18 insertions(+), 1 deletion(-)
diff --git a/src/ceres_wrapper/cost_function_wrapper.h b/src/ceres_wrapper/cost_function_wrapper.h
index 65566f2fa..ffd881914 100644
--- a/src/ceres_wrapper/cost_function_wrapper.h
+++ b/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
diff --git a/src/ceres_wrapper/local_parametrization_wrapper.h b/src/ceres_wrapper/local_parametrization_wrapper.h
index 1d81970a9..d9e0d9e82 100644
--- a/src/ceres_wrapper/local_parametrization_wrapper.h
+++ b/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
--
GitLab