From 465d09022d5b30676886f208efc6901a82e34317 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 7 Aug 2019 13:19:30 +0200
Subject: [PATCH] Rename matchPC --> align
---
src/icp.cpp | 4 ++--
src/icp.h | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/icp.cpp b/src/icp.cpp
index 0987553..6536fc6 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 603b2c9..d6345fc 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);
--
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