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Resolve "Ceres assertion raised"

Merged Joan Vallvé Navarro requested to merge 332-ceres-assertion-raised into devel
Files
16
@@ -62,10 +62,7 @@ class CeresManager : public SolverManager
ceres::Solver::Summary getSummary();
std::unique_ptr<ceres::Problem>& getCeresProblem()
{
return ceres_problem_;
}
std::unique_ptr<ceres::Problem>& getCeresProblem();
virtual void computeCovariances(CovarianceBlocksToBeComputed _blocks
= CovarianceBlocksToBeComputed::ROBOT_LANDMARKS) override;
@@ -82,25 +79,26 @@ class CeresManager : public SolverManager
ceres::Solver::Options& getSolverOptions();
void check();
const Eigen::SparseMatrixd computeHessian() const;
protected:
std::string solveImpl(const ReportVerbosity report_level) override;
virtual bool checkDerived(std::string prefix="") const override;
void addFactor(const FactorBasePtr& fac_ptr) override;
virtual std::string solveDerived(const ReportVerbosity report_level) override;
void removeFactor(const FactorBasePtr& fac_ptr) override;
virtual void addFactorDerived(const FactorBasePtr& fac_ptr) override;
void addStateBlock(const StateBlockPtr& state_ptr) override;
virtual void removeFactorDerived(const FactorBasePtr& fac_ptr) override;
void removeStateBlock(const StateBlockPtr& state_ptr) override;
virtual void addStateBlockDerived(const StateBlockPtr& state_ptr) override;
void updateStateBlockStatus(const StateBlockPtr& state_ptr) override;
virtual void removeStateBlockDerived(const StateBlockPtr& state_ptr) override;
void updateStateBlockLocalParametrization(const StateBlockPtr& state_ptr) override;
virtual void updateStateBlockStatusDerived(const StateBlockPtr& state_ptr) override;
virtual void updateStateBlockLocalParametrizationDerived(const StateBlockPtr& state_ptr) override;
ceres::CostFunctionPtr createCostFunction(const FactorBasePtr& _fac_ptr);
@@ -114,6 +112,11 @@ inline ceres::Solver::Summary CeresManager::getSummary()
return summary_;
}
inline std::unique_ptr<ceres::Problem>& CeresManager::getCeresProblem()
{
return ceres_problem_;
}
inline ceres::Solver::Options& CeresManager::getSolverOptions()
{
return ceres_options_;
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