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Resolve "SolverManager posponing "floating" state blocks"

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7
@@ -138,7 +138,7 @@ class SolverCeres : public SolverManager
bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const override;
bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) override;
bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) const override;
};
inline ceres::Solver::Summary SolverCeres::getSummary()
@@ -162,7 +162,7 @@ inline bool SolverCeres::isFactorRegisteredDerived(const FactorBasePtr& fac_ptr)
&& fac_2_costfunction_.find(fac_ptr) != fac_2_costfunction_.end();
}
inline bool SolverCeres::isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr)
inline bool SolverCeres::isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) const
{
return state_blocks_local_param_.find(state_ptr) != state_blocks_local_param_.end()
&& ceres_problem_->HasParameterBlock(getAssociatedMemBlockPtr(state_ptr));
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