add get_fixed_target_pose

koide3 · Aug 21, 2024 · 4c7ee15 · 4c7ee15
1 parent bfdf565
commit 4c7ee15
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/include/gtsam_points/factors/integrated_matching_cost_factor.hpp b/include/gtsam_points/factors/integrated_matching_cost_factor.hpp
@@ -41,6 +41,8 @@ class IntegratedMatchingCostFactor : public gtsam::NonlinearFactor {
   virtual double error(const gtsam::Values& values) const override;
   virtual boost::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& values) const override;
 
+  const Eigen::Isometry3d& get_fixed_target_pose() const { return fixed_target_pose; }
+
 public:
   Eigen::Isometry3d calc_delta(const gtsam::Values& values) const;