diff --git a/src/icp.cpp b/src/icp.cpp index 0987553696a7fdec410ad7e336dbbb9bbc1c99b4..6536fc649f3b6962a449b4171d681e4c965e8426 100644 --- a/src/icp.cpp +++ b/src/icp.cpp @@ -7,7 +7,7 @@ std::uniform_real_distribution<double> dis(0.0, 1.0); class LDWrapper { public: LDP laser_data; - LDWrapper(LaserScan& scan, LaserScanParams& scan_params) + LDWrapper(const LaserScan& scan, const LaserScanParams& scan_params) { int num_rays = scan.ranges_raw_.size(); laser_data = ld_alloc_new(num_rays); @@ -53,7 +53,7 @@ ICP::~ICP() } -icpOutput ICP::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, LaserScanParams& scan_params, icpParams &icp_params, Eigen::Vector3s &_last_transf) +icpOutput ICP::align(const LaserScan &_last_ls, const LaserScan &_origin_ls, const LaserScanParams& scan_params, const icpParams &icp_params, Eigen::Vector3s &_last_transf) { // Uncomment to enable debug messages from the CSM library // sm_debug_write(true); diff --git a/src/icp.h b/src/icp.h index 603b2c95b73fb6a7bce4e05deb46b0a7ccd55f62..d6345fc992ea5657445b02f2fdd04b5d614eacbb 100644 --- a/src/icp.h +++ b/src/icp.h @@ -33,7 +33,7 @@ class ICP ICP(); ~ICP(); - static icpOutput matchPC(LaserScan &_last_ls, LaserScan &_reference_ls, LaserScanParams& scan_params, icpParams &icp_params, Eigen::Vector3s &_last_transf); + static icpOutput align(const LaserScan &_last_ls, const LaserScan &_reference_ls, const LaserScanParams& scan_params, const icpParams &icp_params, Eigen::Vector3s &_last_transf); static void printTwoLaserData(sm_params ¶ms); static void printLaserData(LDP &laser_data);