Resolve "SolverCeres stop solving if can update"

Closes #354 (closed)

include/core/ceres_wrapper/iteration_update_callback.h

+/*
+ * iteration_callback.h
+ *
+ *  Created on: Jun 15, 2020
+ *      Author: joanvallve
+ */
+
+#ifndef INCLUDE_CORE_CERES_WRAPPER_ITERATION_UPDATE_CALLBACK_H_
+#define INCLUDE_CORE_CERES_WRAPPER_ITERATION_UPDATE_CALLBACK_H_
+
+#include "core/problem/problem.h"
+#include "ceres/ceres.h"
+
+namespace wolf {
+
+class IterationUpdateCallback : public ceres::IterationCallback
+{
+    public:
+        explicit IterationUpdateCallback(ProblemPtr _problem)
+        : problem_(_problem) {}
+
+        ~IterationUpdateCallback() {}
+
+        ceres::CallbackReturnType operator()(const ceres::IterationSummary& summary) override
+        {
+            if (problem_->getStateBlockNotificationMapSize() != 0 or
+                problem_->getFactorNotificationMapSize() != 0)
+            {
+                WOLF_INFO("Stopping solver to update the problem!");
+                return ceres::SOLVER_TERMINATE_SUCCESSFULLY;
+            }
+            return ceres::SOLVER_CONTINUE;
+        }
+
+    private:
+        ProblemPtr problem_;
+};
+
+}
+
+#endif /* INCLUDE_CORE_CERES_WRAPPER_ITERATION_UPDATE_CALLBACK_H_ */