From 737f44b0db0bd56ab413ece35daed47e12d810a1 Mon Sep 17 00:00:00 2001
From: Jeremie Deray <todo@stuff.com>
Date: Sat, 12 Aug 2017 18:26:39 +0200
Subject: [PATCH] add getIncrementCovariance & rm return by ref getIncrement

---
 include/rf2o_laser_odometry/CLaserOdometry2D.h | 3 ++-
 src/CLaserOdometry2D.cpp                       | 7 +++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/include/rf2o_laser_odometry/CLaserOdometry2D.h b/include/rf2o_laser_odometry/CLaserOdometry2D.h
index d01b86d..6985391 100644
--- a/include/rf2o_laser_odometry/CLaserOdometry2D.h
+++ b/include/rf2o_laser_odometry/CLaserOdometry2D.h
@@ -67,9 +67,10 @@ public:
 
     void setLaserPose(const mrpt::poses::CPose3D& laser_pose);
 
-    mrpt::poses::CPose3D& getIncrement();
     const mrpt::poses::CPose3D& getIncrement() const;
 
+    const Eigen::Matrix<float, 3, 3>& getIncrementCovariance() const;
+
     mrpt::poses::CPose3D& getPose();
     const mrpt::poses::CPose3D& getPose() const;
 
diff --git a/src/CLaserOdometry2D.cpp b/src/CLaserOdometry2D.cpp
index ad4b1e1..12c4c5b 100644
--- a/src/CLaserOdometry2D.cpp
+++ b/src/CLaserOdometry2D.cpp
@@ -158,15 +158,14 @@ void CLaserOdometry2D::Init(const sensor_msgs::LaserScan& scan,
     last_odom_time = ros::Time::now();
 }
 
-
-mrpt::poses::CPose3D& CLaserOdometry2D::getIncrement()
+const mrpt::poses::CPose3D& CLaserOdometry2D::getIncrement() const
 {
   return last_increment;
 }
 
-const mrpt::poses::CPose3D& CLaserOdometry2D::getIncrement() const
+const Eigen::Matrix<float, 3, 3>& CLaserOdometry2D::getIncrementCovariance() const
 {
-  return last_increment;
+  return cov_odo;
 }
 
 mrpt::poses::CPose3D& CLaserOdometry2D::getPose()