Method parameterBlockPtr

okvis_ros/okvis/okvis_ceres/src/Map.cpp:555–564

getters Get a shared pointer to a parameter block.

// getters
// Get a shared pointer to a parameter block.
std::shared_ptr<okvis::ceres::ParameterBlock> Map::parameterBlockPtr(uint64_t parameterBlockId) {
  // get a parameterBlock
  OKVIS_ASSERT_TRUE(Exception,
                    parameterBlockExists(parameterBlockId),
                    "parameterBlock with id " << parameterBlockId << " does not exist");
  if (parameterBlockExists(parameterBlockId)) {
    return id2ParameterBlock_Map_.find(parameterBlockId)->second;
  }
  return std::shared_ptr<okvis::ceres::ParameterBlock>();  // NULL
}

// Get a shared pointer to a parameter block.
std::shared_ptr<const okvis::ceres::ParameterBlock> Map::parameterBlockPtr(uint64_t parameterBlockId) const {