From 52208da76d556e0b992cea5bc1fa8349709b7885 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Sun, 25 Aug 2019 20:54:17 +0200 Subject: [PATCH] Add const to many places --- include/laser/processor/processor_closeloop_icp.h | 2 +- include/laser/processor/processor_odom_icp.h | 10 +++++----- .../processor/processor_tracker_feature_polyline_2D.h | 2 +- src/processor/processor_closeloop_icp.cpp | 2 +- src/processor/processor_odom_icp.cpp | 10 +++++----- .../processor_tracker_feature_polyline_2D.cpp | 2 +- 6 files changed, 14 insertions(+), 14 deletions(-) diff --git a/include/laser/processor/processor_closeloop_icp.h b/include/laser/processor/processor_closeloop_icp.h index 9b78bd18d..6d1e1970b 100644 --- a/include/laser/processor/processor_closeloop_icp.h +++ b/include/laser/processor/processor_closeloop_icp.h @@ -45,7 +45,7 @@ class ProcessorCloseLoopICP : public ProcessorBase virtual void process(CaptureBasePtr _capture_ptr) override; - virtual bool voteForKeyFrame() override; + virtual bool voteForKeyFrame() const override; static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr); diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h index 138687cc2..4ca710c60 100644 --- a/include/laser/processor/processor_odom_icp.h +++ b/include/laser/processor/processor_odom_icp.h @@ -98,7 +98,7 @@ class ProcessorOdomICP : public ProcessorTracker virtual unsigned int processKnown() override; virtual unsigned int processNew(const int& _max_features) override; - virtual bool voteForKeyFrame() override; + virtual bool voteForKeyFrame() const override; virtual void advanceDerived() override; virtual void resetDerived() override; @@ -108,10 +108,10 @@ class ProcessorOdomICP : public ProcessorTracker FeatureBasePtr emplaceFeature(CaptureBasePtr _capture_laser); FactorBasePtr emplaceFactor(FeatureBasePtr _feature); - inline bool voteForKeyFrameDistance(); - inline bool voteForKeyFrameAngle(); - inline bool voteForKeyFrameTime(); - inline bool voteForKeyFrameMatchQuality(); + inline bool voteForKeyFrameDistance() const; + inline bool voteForKeyFrameAngle() const; + inline bool voteForKeyFrameTime() const; + inline bool voteForKeyFrameMatchQuality() const; diff --git a/include/laser/processor/processor_tracker_feature_polyline_2D.h b/include/laser/processor/processor_tracker_feature_polyline_2D.h index d6804f771..289f82bec 100644 --- a/include/laser/processor/processor_tracker_feature_polyline_2D.h +++ b/include/laser/processor/processor_tracker_feature_polyline_2D.h @@ -132,7 +132,7 @@ class ProcessorTrackerFeaturePolyline2D : public ProcessorTrackerFeature * * WARNING! This function only votes! It does not create KeyFrames! */ - virtual bool voteForKeyFrame() override; + virtual bool voteForKeyFrame() const override; /**\brief Process new Features * diff --git a/src/processor/processor_closeloop_icp.cpp b/src/processor/processor_closeloop_icp.cpp index d4f410071..1df5aed84 100644 --- a/src/processor/processor_closeloop_icp.cpp +++ b/src/processor/processor_closeloop_icp.cpp @@ -35,7 +35,7 @@ void ProcessorCloseLoopICP::process(CaptureBasePtr _capture_ptr) // _origin_cpt = cpt_ptr; } -bool ProcessorCloseLoopICP::voteForKeyFrame() +bool ProcessorCloseLoopICP::voteForKeyFrame() const { return 0; } diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp index 0e0102c4e..7c8071730 100644 --- a/src/processor/processor_odom_icp.cpp +++ b/src/processor/processor_odom_icp.cpp @@ -82,7 +82,7 @@ unsigned int ProcessorOdomICP::processNew(const int& _max_features) return 0; } -bool ProcessorOdomICP::voteForKeyFrame() +bool ProcessorOdomICP::voteForKeyFrame() const { return (voteForKeyFrameDistance() || voteForKeyFrameAngle() || @@ -90,7 +90,7 @@ bool ProcessorOdomICP::voteForKeyFrame() voteForKeyFrameMatchQuality()); } -inline bool ProcessorOdomICP::voteForKeyFrameDistance() +inline bool ProcessorOdomICP::voteForKeyFrameDistance() const { bool vote = (trf_origin_incoming_.res_transf.head<2>().norm() > proc_params_->vfk_min_dist); if (vote) @@ -101,7 +101,7 @@ inline bool ProcessorOdomICP::voteForKeyFrameDistance() return vote; } -inline bool ProcessorOdomICP::voteForKeyFrameAngle() +inline bool ProcessorOdomICP::voteForKeyFrameAngle() const { bool vote = (fabs(trf_origin_incoming_.res_transf(2)) > proc_params_->vfk_min_angle); if (vote) @@ -112,7 +112,7 @@ inline bool ProcessorOdomICP::voteForKeyFrameAngle() return vote; } -inline bool ProcessorOdomICP::voteForKeyFrameTime() +inline bool ProcessorOdomICP::voteForKeyFrameTime() const { Scalar secs = incoming_ptr_->getTimeStamp() - origin_ptr_->getTimeStamp(); @@ -126,7 +126,7 @@ inline bool ProcessorOdomICP::voteForKeyFrameTime() return vote; } -inline bool ProcessorOdomICP::voteForKeyFrameMatchQuality() +inline bool ProcessorOdomICP::voteForKeyFrameMatchQuality() const { bool vote = (trf_origin_incoming_.error > proc_params_->vfk_min_error || trf_origin_incoming_.nvalid < proc_params_->vfk_max_points); if (vote) diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp index 404889898..8c2f96ab0 100644 --- a/src/processor/processor_tracker_feature_polyline_2D.cpp +++ b/src/processor/processor_tracker_feature_polyline_2D.cpp @@ -285,7 +285,7 @@ bool ProcessorTrackerFeaturePolyline2D::tryCompletePartialMatch(LandmarkMatchPol return true; } -bool ProcessorTrackerFeaturePolyline2D::voteForKeyFrame() +bool ProcessorTrackerFeaturePolyline2D::voteForKeyFrame() const { //WOLF_DEBUG("PTFP ", getName(), "::voteForKeyFrame: "); // TODO -- GitLab