From 43384f8f3e44c7bf6b3955a1c95126ef6169a377 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 25 Aug 2019 16:24:02 +0200
Subject: [PATCH] delta operators are const

---
 include/IMU/processor/processor_IMU.h | 8 ++++----
 src/processor/processor_IMU.cpp       | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/include/IMU/processor/processor_IMU.h b/include/IMU/processor/processor_IMU.h
index 41c85c2e5..4204b264a 100644
--- a/include/IMU/processor/processor_IMU.h
+++ b/include/IMU/processor/processor_IMU.h
@@ -45,21 +45,21 @@ class ProcessorIMU : public ProcessorMotion{
                                          const Scalar _dt,
                                          Eigen::VectorXs& _delta,
                                          Eigen::MatrixXs& _delta_cov,
-                                         Eigen::MatrixXs& _jacobian_calib) override;
+                                         Eigen::MatrixXs& _jacobian_calib) const override;
         virtual void deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
                                     const Eigen::VectorXs& _delta,
                                     const Scalar _dt,
-                                    Eigen::VectorXs& _delta_preint_plus_delta) override;
+                                    Eigen::VectorXs& _delta_preint_plus_delta) const override;
         virtual void deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
                                     const Eigen::VectorXs& _delta,
                                     const Scalar _dt,
                                     Eigen::VectorXs& _delta_preint_plus_delta,
                                     Eigen::MatrixXs& _jacobian_delta_preint,
-                                    Eigen::MatrixXs& _jacobian_delta) override;
+                                    Eigen::MatrixXs& _jacobian_delta) const override;
         virtual void statePlusDelta(const Eigen::VectorXs& _x,
                                 const Eigen::VectorXs& _delta,
                                 const Scalar _dt,
-                                Eigen::VectorXs& _x_plus_delta ) override;
+                                Eigen::VectorXs& _x_plus_delta ) const override;
         virtual Eigen::VectorXs deltaZero() const override;
         virtual bool voteForKeyFrame() override;
         virtual CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
diff --git a/src/processor/processor_IMU.cpp b/src/processor/processor_IMU.cpp
index 2d83320e7..c8342b126 100644
--- a/src/processor/processor_IMU.cpp
+++ b/src/processor/processor_IMU.cpp
@@ -105,7 +105,7 @@ void ProcessorIMU::computeCurrentDelta(const Eigen::VectorXs& _data,
                                        const Scalar _dt,
                                        Eigen::VectorXs& _delta,
                                        Eigen::MatrixXs& _delta_cov,
-                                       Eigen::MatrixXs& _jac_delta_calib)
+                                       Eigen::MatrixXs& _jac_delta_calib) const
 {
     assert(_data.size() == data_size_ && "Wrong data size!");
 
@@ -144,7 +144,7 @@ void ProcessorIMU::computeCurrentDelta(const Eigen::VectorXs& _data,
 void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
                                   const Eigen::VectorXs& _delta,
                                   const Scalar _dt,
-                                  Eigen::VectorXs& _delta_preint_plus_delta)
+                                  Eigen::VectorXs& _delta_preint_plus_delta) const
 {
     /* MATHS according to Sola-16
      * Dp' = Dp + Dv*dt + 1/2*Dq*(a-a_b)*dt^2    = Dp + Dv*dt + Dq*dp   if  dp = 1/2*(a-a_b)*dt^2
@@ -159,7 +159,7 @@ void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
 void ProcessorIMU::statePlusDelta(const Eigen::VectorXs& _x,
                                   const Eigen::VectorXs& _delta,
                                   const Scalar _dt,
-                                  Eigen::VectorXs& _x_plus_delta)
+                                  Eigen::VectorXs& _x_plus_delta) const
 {
     assert(_x.size() == 10 && "Wrong _x vector size");
     assert(_delta.size() == 10 && "Wrong _delta vector size");
@@ -174,7 +174,7 @@ void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
                                   const Scalar _dt,
                                   Eigen::VectorXs& _delta_preint_plus_delta,
                                   Eigen::MatrixXs& _jacobian_delta_preint,
-                                  Eigen::MatrixXs& _jacobian_delta)
+                                  Eigen::MatrixXs& _jacobian_delta) const
 {
     /*
      * Expression of the delta integration step, D' = D (+) d:
-- 
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