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Resolve "icp: develop matching tools"

Merged Resolve "icp: develop matching tools"
23-icp-develop-matching-tools into master
Merged Pep Martí Saumell requested to merge 23-icp-develop-matching-tools into master
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src/icp.cpp
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@@ -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);