From b5acfc5a0f3a7920cdf8ecccb03d28fa3b3eb9be Mon Sep 17 00:00:00 2001
From: Luca <lcarlone@mit.edu>
Date: Sat, 1 Apr 2017 13:05:34 -0400
Subject: [PATCH] added get to access gravity vector

---
 gtsam/navigation/PreintegrationParams.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index f2b2c0fef..b929a753c 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -56,6 +56,7 @@ struct PreintegrationParams: PreintegratedRotationParams {
 
   const Matrix3& getAccelerometerCovariance() const { return accelerometerCovariance; }
   const Matrix3& getIntegrationCovariance()   const { return integrationCovariance; }
+  const Vector3& getGravity()   const { return n_gravity; }
   bool           getUse2ndOrderCoriolis()     const { return use2ndOrderCoriolis; }
 
 protected: