From 1a10c440bb174259407162e6b735946cbcc4bae4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 23 Aug 2019 16:25:17 +0200
Subject: [PATCH] Make print() const

---
 hello_wolf/processor_range_bearing.h          | 2 +-
 hello_wolf/sensor_range_bearing.h             | 2 +-
 include/core/common/params_base.h             | 2 +-
 include/core/processor/processor_base.h       | 4 ++--
 include/core/processor/processor_diff_drive.h | 2 +-
 include/core/processor/processor_motion.h     | 2 +-
 include/core/processor/processor_odom_2D.h    | 2 +-
 include/core/processor/processor_odom_3D.h    | 2 +-
 include/core/processor/processor_tracker.h    | 4 ++--
 include/core/sensor/sensor_base.h             | 2 +-
 include/core/sensor/sensor_diff_drive.h       | 1 +
 include/core/sensor/sensor_odom_2D.h          | 2 +-
 include/core/sensor/sensor_odom_3D.h          | 2 +-
 src/processor/processor_base.cpp              | 2 +-
 14 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index 527efd1f6..65e87f56e 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -31,7 +31,7 @@ struct ProcessorParamsRangeBearing : public ProcessorParamsBase
         {
             //
         }
-        std::string print()
+        std::string print() const
         {
             return "\n" + ProcessorParamsBase::print();
         }
diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index b7788c27f..2e9bcf214 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -29,7 +29,7 @@ struct IntrinsicsRangeBearing : public IntrinsicsBase
         noise_range_metres_std      = _server.getParam<Scalar>(_unique_name + "/noise_range_metres_std");
         noise_bearing_degrees_std   = _server.getParam<Scalar>(_unique_name + "/noise_bearing_degrees_std");
     }
-    std::string print()
+    std::string print() const
     {
         return "" + IntrinsicsBase::print()                                         + "\n"
         + "noise_range_metres_std: "    + std::to_string(noise_range_metres_std)    + "\n"
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 767ece49d..5295bc0ac 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -13,7 +13,7 @@ namespace wolf {
     }
 
     virtual ~ParamsBase() = default;
-    std::string print()
+    std::string print() const
     {
         return "";
     }
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 1eee919de..d57846275 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -180,7 +180,7 @@ class BufferPackKeyFrame : public Buffer<PackKeyFramePtr>
         /**\brief Print buffer information
          *
          */
-        void print();
+        void print() const;
 
         /**\brief Alias funct
         *
@@ -224,7 +224,7 @@ struct ProcessorParamsBase : public ParamsBase
     bool voting_aux_active  = false;    ///< Whether this processor is allowed to vote for an Auxiliary Frame or not
 
 
-    std::string print()
+    std::string print() const
     {
         return ParamsBase::print() + "\n"
                 + "voting_active: "     + std::to_string(voting_active)     + "\n"
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index d4aa5a792..1192230af 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -22,7 +22,7 @@ struct ProcessorParamsDiffDrive : public ProcessorParamsOdom2D
             ProcessorParamsOdom2D(_unique_name, _server)
         {
         }
-        std::string print()
+        std::string print() const
         {
             return "\n" + ProcessorParamsOdom2D::print();
         }
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 1cd51d36e..41fc77be5 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -40,7 +40,7 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
           angle_turned    = _server.getParam<Scalar>(_unique_name       + "/keyframe_vote/angle_turned");
           unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std");
         }
-        std::string print()
+        std::string print() const
         {
           return "\n" + ProcessorParamsBase::print() + "\n"
             + "max_time_span: "     + std::to_string(max_time_span)     + "\n"
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index 8fca11b3e..2957ec7de 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -30,7 +30,7 @@ struct ProcessorParamsOdom2D : public ProcessorParamsMotion
             cov_det = _server.getParam<Scalar>(_unique_name + "/keyframe_vote/cov_det");
         }
 
-        std::string print()
+        std::string print() const
         {
             return "\n" + ProcessorParamsMotion::print()    + "\n"
             + "cov_det: "   + std::to_string(cov_det)       + "\n";
diff --git a/include/core/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h
index bd1e3cf01..1512b996e 100644
--- a/include/core/processor/processor_odom_3D.h
+++ b/include/core/processor/processor_odom_3D.h
@@ -27,7 +27,7 @@ struct ProcessorParamsOdom3D : public ProcessorParamsMotion
         {
             //
         }
-        std::string print()
+        std::string print() const
         {
             return "\n" + ProcessorParamsMotion::print();
         }
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index dc59acee3..a1e645186 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -27,7 +27,7 @@ struct ProcessorParamsTracker : public ProcessorParamsBase
         min_features_for_keyframe   = _server.getParam<unsigned int>(_unique_name   + "/min_features_for_keyframe");
         max_new_features            = _server.getParam<int>(_unique_name            + "/max_new_features");
     }
-    std::string print()
+    std::string print() const
     {
         return ProcessorParamsBase::print()                                                 + "\n"
                 + "min_features_for_keyframe: " + std::to_string(min_features_for_keyframe) + "\n"
@@ -230,7 +230,7 @@ class ProcessorTracker : public ProcessorBase
 
         FeatureBasePtrList& getNewFeaturesListLast();
 
-        std::string print(){
+        std::string print() const {
             return this->params_tracker_->print();
         }
 
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index e9945a9b4..67e0c032d 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -74,7 +74,7 @@ struct IntrinsicsBase: public ParamsBase
 {
     virtual ~IntrinsicsBase() = default;
     using ParamsBase::ParamsBase;
-    std::string print()
+    std::string print() const
     {
         return "";
     }
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index a36356ed8..79d1c769a 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -36,6 +36,7 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
             radians_per_tick            = 2.0 * M_PI / ticks_per_wheel_revolution;
         }
         std::string print()
+        std::string print() const
         {
             return "\n" + IntrinsicsBase::print()                                           + "\n"
             + "radius_left: "                   + std::to_string(radius_left)               + "\n"
diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h
index 83b776add..463a9c3d9 100644
--- a/include/core/sensor/sensor_odom_2D.h
+++ b/include/core/sensor/sensor_odom_2D.h
@@ -25,7 +25,7 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
         k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
         k_rot_to_rot   = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
     }
-    std::string print()
+    std::string print() const
     {
         return "\n" + IntrinsicsBase::print()                               + "\n"
                 + "k_disp_to_disp: "    + std::to_string(k_disp_to_disp)    + "\n"
diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h
index 1a727d613..3e141b939 100644
--- a/include/core/sensor/sensor_odom_3D.h
+++ b/include/core/sensor/sensor_odom_3D.h
@@ -36,7 +36,7 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
         min_disp_var   = _server.getParam<Scalar>(_unique_name + "/min_disp_var");
         min_rot_var    = _server.getParam<Scalar>(_unique_name + "/min_rot_var");
     }
-    std::string print()
+    std::string print() const
     {
       return "\n" + IntrinsicsBase::print()                      + "\n"
         + "k_disp_to_disp: "    + std::to_string(k_disp_to_disp) + "\n"
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 1e8b098df..c89ece40f 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -181,7 +181,7 @@ PackKeyFramePtr BufferPackKeyFrame::selectFirstPackBefore(const CaptureBasePtr _
     return selectFirstPackBefore(_capture->getTimeStamp(), _time_tolerance);
 }
 
-void BufferPackKeyFrame::print(void)
+void BufferPackKeyFrame::print(void) const
 {
     std::cout << "[ ";
     for (auto iter : container_)
-- 
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