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Cast nullptr to type for manifold support #370

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Cast nullptr to type for manifold support #370

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12 changes: 11 additions & 1 deletion fuse_models/test/test_unicycle_2d_state_cost_function.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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