Modified function definition

src/icp.cpp

@@ -12,10 +12,9 @@ ICPWrapper::~ICPWrapper()
 
 }
 
-void ICPWrapper::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, Eigen::Vector3s &_last_transf,
-             Eigen::Vector3s &_res_transf, int &num_points, int &error_points)
+icp_output ICPWrapper::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, Eigen::Vector3s &_last_transf)
 {
-
+    return icp_output{};
 }
 
 }

src/icp.h

@@ -3,13 +3,16 @@
 
 // using namespace CSM;
 using namespace laserscanutils;
-
+struct icp_output{
+    Eigen::Vector3s res_transf;
+    int num_points;
+    int error_points;
+};
 class ICPWrapper
 {
     public:
         ICPWrapper();
         ~ICPWrapper();
 
-        void matchPC(LaserScan &_last_ls, LaserScan &_reference_ls, Eigen::Vector3s &_last_transf,
-                     Eigen::Vector3s &_res_transf, int &num_points, int &error_points);
+        icp_output matchPC(LaserScan &_last_ls, LaserScan &_reference_ls, Eigen::Vector3s &_last_transf);
 };