From 2766b555e2d5c251200f3cfbc816f00c2a0ac770 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 22 May 2019 10:45:06 +0200
Subject: [PATCH] Add const keywords
---
include/core/ceres_wrapper/ceres_manager.h | 4 ++--
include/core/solver/solver_manager.h | 4 ++--
src/solver/solver_manager.cpp | 2 +-
test/gtest_problem.cpp | 4 ++--
test/gtest_solver_manager.cpp | 4 ++--
test/gtest_trajectory.cpp | 4 ++--
6 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/include/core/ceres_wrapper/ceres_manager.h b/include/core/ceres_wrapper/ceres_manager.h
index 03b1e1cb8..413ecce13 100644
--- a/include/core/ceres_wrapper/ceres_manager.h
+++ b/include/core/ceres_wrapper/ceres_manager.h
@@ -90,7 +90,7 @@ class CeresManager : public SolverManager
ceres::CostFunctionPtr createCostFunction(const FactorBasePtr& _fac_ptr);
- virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) override;
+ virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const override;
virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) override;
};
@@ -105,7 +105,7 @@ inline ceres::Solver::Options& CeresManager::getSolverOptions()
return ceres_options_;
}
-inline bool CeresManager::isFactorRegisteredDerived(const FactorBasePtr& fac_ptr)
+inline bool CeresManager::isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const
{
return fac_2_residual_idx_.find(fac_ptr) != fac_2_residual_idx_.end()
&& fac_2_costfunction_.find(fac_ptr) != fac_2_costfunction_.end();
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 049cb951d..f5ed62680 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -69,7 +69,7 @@ public:
virtual bool isStateBlockRegistered(const StateBlockPtr& state_ptr);
- virtual bool isFactorRegistered(const FactorBasePtr& fac_ptr);
+ virtual bool isFactorRegistered(const FactorBasePtr& fac_ptr) const;
protected:
@@ -94,7 +94,7 @@ protected:
virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) = 0;
- virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) = 0;
+ virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const = 0;
};
} // namespace wolf
diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index f6d2914da..e03be2d6c 100644
--- a/src/solver/solver_manager.cpp
+++ b/src/solver/solver_manager.cpp
@@ -165,7 +165,7 @@ bool SolverManager::isStateBlockRegistered(const StateBlockPtr& state_ptr)
return state_blocks_.find(state_ptr) != state_blocks_.end() && isStateBlockRegisteredDerived(state_ptr);
}
-bool SolverManager::isFactorRegistered(const FactorBasePtr& fac_ptr)
+bool SolverManager::isFactorRegistered(const FactorBasePtr& fac_ptr) const
{
return isFactorRegisteredDerived(fac_ptr);
}
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 29f4f132d..d05b40a11 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -46,9 +46,9 @@ public:
virtual void updateStateBlockStatus(const StateBlockPtr& state_ptr){};
virtual void updateStateBlockLocalParametrization(const StateBlockPtr& state_ptr){};
virtual bool isStateBlockRegistered(const StateBlockPtr& state_ptr){return true;};
- virtual bool isFactorRegistered(const FactorBasePtr& fac_ptr){return true;};
+ virtual bool isFactorRegistered(const FactorBasePtr& fac_ptr) const {return true;};
virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr){return true;};
- virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr){return true;};
+ virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const {return true;};
};
TEST(Problem, create)
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index 496dab16c..92fc07b84 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -45,7 +45,7 @@ class SolverManagerWrapper : public SolverManager
return state_block_fixed_.at(st);
};
- bool isFactorRegistered(const FactorBasePtr& fac_ptr)
+ bool isFactorRegistered(const FactorBasePtr& fac_ptr) const
{
return std::find(factors_.begin(), factors_.end(), fac_ptr) != factors_.end();
};
@@ -63,7 +63,7 @@ class SolverManagerWrapper : public SolverManager
virtual void computeCovariances(const CovarianceBlocksToBeComputed blocks){};
virtual void computeCovariances(const std::vector<StateBlockPtr>& st_list){};
virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr){return true;};
- virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr){return true;};
+ virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const {return true;};
// The following are dummy implementations
bool hasConverged() { return true; }
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 50a78bc0f..f71bc579b 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -38,9 +38,9 @@ struct DummySolverManager : public SolverManager
virtual void updateStateBlockStatus(const StateBlockPtr& state_ptr){};
virtual void updateStateBlockLocalParametrization(const StateBlockPtr& state_ptr){};
virtual bool isStateBlockRegistered(const StateBlockPtr& state_ptr){return true;};
- virtual bool isFactorRegistered(const FactorBasePtr& fac_ptr){return true;};
+ virtual bool isFactorRegistered(const FactorBasePtr& fac_ptr) const {return true;};
virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr){return true;};
- virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr){return true;};
+ virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const {return true;};
};
/// Set to true if you want debug info
--
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