diff --git a/cartographer/mapping/pose_extrapolator.cc b/cartographer/mapping/pose_extrapolator.cc
index e510d2f..8f919a8 100644
--- a/cartographer/mapping/pose_extrapolator.cc
+++ b/cartographer/mapping/pose_extrapolator.cc
@@ -56,6 +56,10 @@ common::Time PoseExtrapolator::GetLastPoseTime() const {
   return timed_pose_queue_.back().time;
 }
 
+common::Time PoseExtrapolator::GetLastExtrapolatedTime() const {
+  return GetLastPoseTime();
+}
+
 void PoseExtrapolator::AddPose(const common::Time time,
                                const transform::Rigid3d& pose) {
   if (imu_tracker_ == nullptr) {
diff --git a/cartographer/mapping/pose_extrapolator.h b/cartographer/mapping/pose_extrapolator.h
index 66976e1..585f10c 100644
--- a/cartographer/mapping/pose_extrapolator.h
+++ b/cartographer/mapping/pose_extrapolator.h
@@ -47,6 +47,7 @@ class PoseExtrapolator {
   // Returns the time of the last added pose or Time::min() if no pose was added
   // yet.
   common::Time GetLastPoseTime() const;
+  common::Time GetLastExtrapolatedTime() const;
 
   void AddPose(common::Time time, const transform::Rigid3d& pose);
   void AddImuData(const sensor::ImuData& imu_data);