Skip to content
Snippets Groups Projects
Commit 20b086ce authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Add const to many places

parent a0905c6f
No related branches found
No related tags found
1 merge request!9Add const to many places
......@@ -69,13 +69,13 @@ class ProcessorGnssFix : public ProcessorBase
*
* Returns true if processCapture() should be called after the provided capture arrived.
*/
virtual bool triggerInCapture(CaptureBasePtr) override;
virtual bool triggerInCapture(CaptureBasePtr) const override;
/** \brief trigger in key-frame
*
* The ProcessorTracker only processes incoming captures, then it returns false.
*/
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) override {return false;}
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) const override {return false;}
/** \brief store key frame
*
......@@ -89,7 +89,7 @@ class ProcessorGnssFix : public ProcessorBase
*/
virtual bool storeCapture(CaptureBasePtr);
virtual bool voteForKeyFrame() override;
virtual bool voteForKeyFrame() const override;
private:
FactorBasePtr emplaceFactor(FeatureBasePtr _ftr_ptr);
......@@ -100,7 +100,7 @@ class ProcessorGnssFix : public ProcessorBase
};
inline bool ProcessorGnssFix::triggerInCapture(CaptureBasePtr)
inline bool ProcessorGnssFix::triggerInCapture(CaptureBasePtr) const
{
return true;
}
......
......@@ -82,15 +82,15 @@ class ProcessorGnssSingleDiff : public ProcessorBase
*
* Returns true if processCapture() should be called after the provided capture arrived.
*/
virtual bool triggerInCapture(CaptureBasePtr) override;
virtual bool triggerInCapture(CaptureBasePtr) const override;
/** \brief trigger in key-frame
*
* The ProcessorTracker only processes incoming captures, then it returns false.
*/
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe, const Scalar& _time_tolerance) override {return false;}
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe, const Scalar& _time_tolerance) const override {return false;}
virtual bool voteForKeyFrame() override;
virtual bool voteForKeyFrame() const override;
private:
......@@ -101,7 +101,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase
};
inline bool ProcessorGnssSingleDiff::triggerInCapture(CaptureBasePtr)
inline bool ProcessorGnssSingleDiff::triggerInCapture(CaptureBasePtr) const
{
return true;
}
......
......@@ -139,7 +139,7 @@ bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac)
return false;
}
bool ProcessorGnssFix::voteForKeyFrame()
bool ProcessorGnssFix::voteForKeyFrame() const
{
// Depending on time since the last KF with gnssfix capture
if (!last_KF_ || (incoming_capture_->getTimeStamp() - last_KF_->getTimeStamp()) > params_gnss_->time_th)
......
......@@ -100,7 +100,7 @@ FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr _ftr)
return nullptr;
}
bool ProcessorGnssSingleDiff::voteForKeyFrame()
bool ProcessorGnssSingleDiff::voteForKeyFrame() const
{
if (last_KF_==nullptr)
return true;
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment