From 39286f667214a4f7fd88c224943bfb850d5e2a32 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Sun, 19 Dec 2021 10:41:07 -0500
Subject: [PATCH] added clone to play well with gnc

---
 gtsam_unstable/slam/PoseToPointFactor.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h
index cab48e506..b9b2ad5ce 100644
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@@ -61,6 +61,12 @@ class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
            traits<POINT>::Equals(this->measured_, e->measured_, tol);
   }
 
+  /// @return a deep copy of this factor
+  gtsam::NonlinearFactor::shared_ptr clone() const override {
+    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
+        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
+  }
+
   /** implement functions needed to derive from Factor */
 
   /** vector of errors