From f50a01de83be8860b3dcd8b9066af18caff486af Mon Sep 17 00:00:00 2001
From: Jake McLaughlin <jmclaughlin@ottomotors.com>
Date: Wed, 15 May 2024 14:51:36 -0400
Subject: [PATCH] Cast nullptr to type for manifold support

---
 .../test/test_unicycle_2d_state_cost_function.cpp    | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/fuse_models/test/test_unicycle_2d_state_cost_function.cpp b/fuse_models/test/test_unicycle_2d_state_cost_function.cpp
index e7b1a9afd..650d7e171 100644
--- a/fuse_models/test/test_unicycle_2d_state_cost_function.cpp
+++ b/fuse_models/test/test_unicycle_2d_state_cost_function.cpp
@@ -99,7 +99,17 @@ TEST(CostFunction, evaluateCostFunction)
 
   // Check jacobians are correct using a gradient checker
   ceres::NumericDiffOptions numeric_diff_options;
-  ceres::GradientChecker gradient_checker(&cost_function, nullptr, numeric_diff_options);
+#if !CERES_SUPPORTS_MANIFOLDS
+  ceres::GradientChecker gradient_checker(
+    &cost_function,
+    static_cast<std::vector<const ceres::LocalParameterization*>*>(nullptr),
+    numeric_diff_options);
+#else
+  ceres::GradientChecker gradient_checker(
+    &cost_function,
+    static_cast<std::vector<const ceres::Manifold*>*>(nullptr),
+    numeric_diff_options);
+#endif
 
   // We cannot use std::numeric_limits<double>::epsilon() tolerance because the worst relative error is 5.26356e-10
   ceres::GradientChecker::ProbeResults probe_results;