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Commit 3d4ee1cb authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Fixing some more constness incoherencies

parent 6ddd8682
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1 merge request!451After cmake and const refactor
Pipeline #10597 canceled
Stage: license
    Stage: build_and_test
      Stage: deploy_plugins
        Stage: final_plugins
          Stage: deploy_ros
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            include/core/frame/frame_base.h
            + 4
            − 4
            View file @ 3d4ee1cb
            ...@@ -157,16 +157,16 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha ...@@ -157,16 +157,16 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
            CaptureBaseConstPtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr) const; CaptureBaseConstPtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr) const;
            CaptureBasePtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr); CaptureBasePtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr);
            CaptureBaseConstPtr getCaptureOf(const SensorBasePtr _sensor_ptr, const std::string& type) const; CaptureBaseConstPtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr, const std::string& type) const;
            CaptureBasePtr getCaptureOf(const SensorBasePtr _sensor_ptr, const std::string& type); CaptureBasePtr getCaptureOf(const SensorBasePtr _sensor_ptr, const std::string& type);
            CaptureBaseConstPtrList getCapturesOf(const SensorBasePtr _sensor_ptr) const; CaptureBaseConstPtrList getCapturesOf(const SensorBaseConstPtr _sensor_ptr) const;
            CaptureBasePtrList getCapturesOf(const SensorBasePtr _sensor_ptr); CaptureBasePtrList getCapturesOf(const SensorBasePtr _sensor_ptr);
            FactorBaseConstPtr getFactorOf(const ProcessorBasePtr _processor_ptr) const; FactorBaseConstPtr getFactorOf(const ProcessorBaseConstPtr _processor_ptr) const;
            FactorBasePtr getFactorOf(const ProcessorBasePtr _processor_ptr); FactorBasePtr getFactorOf(const ProcessorBasePtr _processor_ptr);
            FactorBaseConstPtr getFactorOf(const ProcessorBasePtr _processor_ptr, const std::string& type) const; FactorBaseConstPtr getFactorOf(const ProcessorBaseConstPtr _processor_ptr, const std::string& type) const;
            FactorBasePtr getFactorOf(const ProcessorBasePtr _processor_ptr, const std::string& type); FactorBasePtr getFactorOf(const ProcessorBasePtr _processor_ptr, const std::string& type);
            unsigned int getHits() const; unsigned int getHits() const;
            ......
            include/core/processor/processor_base.h
            + 69
            − 19
            View file @ 3d4ee1cb
            ...@@ -92,6 +92,7 @@ class Buffer ...@@ -92,6 +92,7 @@ class Buffer
            public: public:
            typedef typename std::map<TimeStamp,T>::iterator Iterator; // buffer iterator typedef typename std::map<TimeStamp,T>::iterator Iterator; // buffer iterator
            typedef typename std::map<TimeStamp,T>::const_iterator ConstIterator; // buffer iterator
            Buffer(){}; Buffer(){};
            ~Buffer(void){}; ~Buffer(void){};
            ...@@ -101,27 +102,28 @@ public: ...@@ -101,27 +102,28 @@ public:
            * Select from the buffer the closest element (w.r.t. time stamp), * Select from the buffer the closest element (w.r.t. time stamp),
            * respecting a defined time tolerances * respecting a defined time tolerances
            */ */
            T select(const TimeStamp& _time_stamp, const double& _time_tolerance); T select(const TimeStamp& _time_stamp, const double& _time_tolerance) const;
            /**\brief Select an element iterator from the buffer /**\brief Select an element iterator from the buffer
            * *
            * Select from the buffer the iterator pointing to the closest element (w.r.t. time stamp), * Select from the buffer the iterator pointing to the closest element (w.r.t. time stamp),
            * respecting a defined time tolerances * respecting a defined time tolerances
            */ */
            ConstIterator selectIterator(const TimeStamp& _time_stamp, const double& _time_tolerance) const;
            Iterator selectIterator(const TimeStamp& _time_stamp, const double& _time_tolerance); Iterator selectIterator(const TimeStamp& _time_stamp, const double& _time_tolerance);
            T selectFirstBefore(const TimeStamp& _time_stamp, const double& _time_tolerance); T selectFirstBefore(const TimeStamp& _time_stamp, const double& _time_tolerance) const;
            T selectLastAfter(const TimeStamp& _time_stamp, const double& _time_tolerance); T selectLastAfter(const TimeStamp& _time_stamp, const double& _time_tolerance) const;
            T selectFirst(); T selectFirst() const;
            T selectLast(); T selectLast() const;
            /**\brief Buffer size /**\brief Buffer size
            * *
            */ */
            SizeStd size(void); SizeStd size(void) const;
            /**\brief Add a element to the buffer /**\brief Add a element to the buffer
            * *
            ...@@ -132,6 +134,7 @@ public: ...@@ -132,6 +134,7 @@ public:
            * *
            * elements are ordered from most recent to oldest * elements are ordered from most recent to oldest
            */ */
            const std::map<TimeStamp,T>& getContainer() const;
            std::map<TimeStamp,T>& getContainer(); std::map<TimeStamp,T>& getContainer();
            /**\brief Remove all elements in the buffer with a time stamp older than the specified /**\brief Remove all elements in the buffer with a time stamp older than the specified
            ...@@ -152,7 +155,7 @@ public: ...@@ -152,7 +155,7 @@ public:
            /**\brief is the buffer empty ? /**\brief is the buffer empty ?
            * *
            */ */
            bool empty(); bool empty() const;
            protected: protected:
            /**\brief Check time tolerance /**\brief Check time tolerance
            ...@@ -160,14 +163,19 @@ protected: ...@@ -160,14 +163,19 @@ protected:
            * Check if the time distance between two time stamps is smaller than * Check if the time distance between two time stamps is smaller than
            * the time tolerance. * the time tolerance.
            */ */
            static bool checkTimeTolerance(const TimeStamp& _time_stamp1, const TimeStamp& _time_stamp2, const double& _time_tolerance); static bool checkTimeTolerance(const TimeStamp& _time_stamp1,
            const TimeStamp& _time_stamp2,
            const double& _time_tolerance);
            /**\brief Check time tolerance /**\brief Check time tolerance
            * *
            * Check if the time distance between two time stamps is smaller than * Check if the time distance between two time stamps is smaller than
            * the minimum time tolerance of the two frames. * the minimum time tolerance of the two frames.
            */ */
            static bool doubleCheckTimeTolerance(const TimeStamp& _time_stamp1, const double& _time_tolerance1, const TimeStamp& _time_stamp2, const double& _time_tolerance2); static bool doubleCheckTimeTolerance(const TimeStamp& _time_stamp1,
            const double& _time_tolerance1,
            const TimeStamp& _time_stamp2,
            const double& _time_tolerance2);
            protected: protected:
            ...@@ -454,6 +462,42 @@ std::shared_ptr<classType> ProcessorBase::emplace(SensorBasePtr _sen_ptr, T&&... ...@@ -454,6 +462,42 @@ std::shared_ptr<classType> ProcessorBase::emplace(SensorBasePtr _sen_ptr, T&&...
            ///////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////
            template <typename T>
            typename Buffer<T>::ConstIterator Buffer<T>::selectIterator(const TimeStamp& _time_stamp, const double& _time_tolerance) const
            {
            Buffer<T>::ConstIterator post = container_.upper_bound(_time_stamp);
            bool prev_exists = (post != container_.begin());
            bool post_exists = (post != container_.end());
            bool post_ok = post_exists && checkTimeTolerance(post->first, _time_stamp, _time_tolerance);
            if (prev_exists)
            {
            Buffer<T>::ConstIterator prev = std::prev(post);
            bool prev_ok = checkTimeTolerance(prev->first, _time_stamp, _time_tolerance);
            if (prev_ok && !post_ok)
            return prev;
            else if (!prev_ok && post_ok)
            return post;
            else if (prev_ok && post_ok)
            {
            if (std::fabs(post->first - _time_stamp) < std::fabs(prev->first - _time_stamp))
            return post;
            else
            return prev;
            }
            }
            else if (post_ok)
            return post;
            return container_.end();
            }
            template <typename T> template <typename T>
            typename Buffer<T>::Iterator Buffer<T>::selectIterator(const TimeStamp& _time_stamp, const double& _time_tolerance) typename Buffer<T>::Iterator Buffer<T>::selectIterator(const TimeStamp& _time_stamp, const double& _time_tolerance)
            { {
            ...@@ -491,12 +535,12 @@ typename Buffer<T>::Iterator Buffer<T>::selectIterator(const TimeStamp& _time_st ...@@ -491,12 +535,12 @@ typename Buffer<T>::Iterator Buffer<T>::selectIterator(const TimeStamp& _time_st
            } }
            template <typename T> template <typename T>
            T Buffer<T>::select(const TimeStamp& _time_stamp, const double& _time_tolerance) T Buffer<T>::select(const TimeStamp& _time_stamp, const double& _time_tolerance) const
            { {
            if (container_.empty()) if (container_.empty())
            return nullptr; return nullptr;
            Buffer<T>::Iterator it = selectIterator(_time_stamp, _time_tolerance); auto it = selectIterator(_time_stamp, _time_tolerance);
            // end is returned from selectIterator if an element of the buffer complying with the time stamp // end is returned from selectIterator if an element of the buffer complying with the time stamp
            // and time tolerance has not been found // and time tolerance has not been found
            ...@@ -508,7 +552,7 @@ T Buffer<T>::select(const TimeStamp& _time_stamp, const double& _time_tolerance) ...@@ -508,7 +552,7 @@ T Buffer<T>::select(const TimeStamp& _time_stamp, const double& _time_tolerance)
            } }
            template <typename T> template <typename T>
            T Buffer<T>::selectFirstBefore(const TimeStamp& _time_stamp, const double& _time_tolerance) T Buffer<T>::selectFirstBefore(const TimeStamp& _time_stamp, const double& _time_tolerance) const
            { {
            // There is no element // There is no element
            if (container_.empty()) if (container_.empty())
            ...@@ -529,7 +573,7 @@ T Buffer<T>::selectFirstBefore(const TimeStamp& _time_stamp, const double& _time ...@@ -529,7 +573,7 @@ T Buffer<T>::selectFirstBefore(const TimeStamp& _time_stamp, const double& _time
            template <typename T> template <typename T>
            T Buffer<T>::selectLastAfter(const TimeStamp& _time_stamp, const double& _time_tolerance) T Buffer<T>::selectLastAfter(const TimeStamp& _time_stamp, const double& _time_tolerance) const
            { {
            // There is no element // There is no element
            if (container_.empty()) if (container_.empty())
            ...@@ -549,7 +593,7 @@ T Buffer<T>::selectLastAfter(const TimeStamp& _time_stamp, const double& _time_t ...@@ -549,7 +593,7 @@ T Buffer<T>::selectLastAfter(const TimeStamp& _time_stamp, const double& _time_t
            } }
            template <typename T> template <typename T>
            T Buffer<T>::selectFirst() T Buffer<T>::selectFirst() const
            { {
            // There is no element // There is no element
            if (container_.empty()) if (container_.empty())
            ...@@ -560,7 +604,7 @@ T Buffer<T>::selectFirst() ...@@ -560,7 +604,7 @@ T Buffer<T>::selectFirst()
            } }
            template <typename T> template <typename T>
            T Buffer<T>::selectLast() T Buffer<T>::selectLast() const
            { {
            // There is no element // There is no element
            if (container_.empty()) if (container_.empty())
            ...@@ -576,6 +620,12 @@ void Buffer<T>::emplace(const TimeStamp& _time_stamp, const T& _element) ...@@ -576,6 +620,12 @@ void Buffer<T>::emplace(const TimeStamp& _time_stamp, const T& _element)
            container_.emplace(_time_stamp, _element); container_.emplace(_time_stamp, _element);
            } }
            template <typename T>
            const std::map<TimeStamp,T>& Buffer<T>::getContainer() const
            {
            return container_;
            }
            template <typename T> template <typename T>
            std::map<TimeStamp,T>& Buffer<T>::getContainer() std::map<TimeStamp,T>& Buffer<T>::getContainer()
            { {
            ...@@ -589,13 +639,13 @@ inline void Buffer<T>::clear() ...@@ -589,13 +639,13 @@ inline void Buffer<T>::clear()
            } }
            template <typename T> template <typename T>
            inline bool Buffer<T>::empty() inline bool Buffer<T>::empty() const
            { {
            return container_.empty(); return container_.empty();
            } }
            template <typename T> template <typename T>
            inline SizeStd Buffer<T>::size(void) inline SizeStd Buffer<T>::size(void) const
            { {
            return container_.size(); return container_.size();
            } }
            ...@@ -628,8 +678,8 @@ inline bool Buffer<T>::doubleCheckTimeTolerance(const TimeStamp& _time_stamp1, ...@@ -628,8 +678,8 @@ inline bool Buffer<T>::doubleCheckTimeTolerance(const TimeStamp& _time_stamp1,
            template <typename T> template <typename T>
            inline bool Buffer<T>::checkTimeTolerance(const TimeStamp& _time_stamp1, inline bool Buffer<T>::checkTimeTolerance(const TimeStamp& _time_stamp1,
            const TimeStamp& _time_stamp2, const TimeStamp& _time_stamp2,
            const double& _time_tolerance) const double& _time_tolerance)
            { {
            double time_diff = std::fabs(_time_stamp1 - _time_stamp2); double time_diff = std::fabs(_time_stamp1 - _time_stamp2);
            bool pass = time_diff <= _time_tolerance; bool pass = time_diff <= _time_tolerance;
            ......
            src/frame/frame_base.cpp
            + 4
            − 4
            View file @ 3d4ee1cb
            ...@@ -230,7 +230,7 @@ CaptureBasePtrList FrameBase::getCapturesOfType(const std::string& type) ...@@ -230,7 +230,7 @@ CaptureBasePtrList FrameBase::getCapturesOfType(const std::string& type)
            return captures; return captures;
            } }
            CaptureBaseConstPtr FrameBase::getCaptureOf(const SensorBasePtr _sensor_ptr, const std::string& type) const CaptureBaseConstPtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr, const std::string& type) const
            { {
            for (auto capture_ptr : getCaptureList()) for (auto capture_ptr : getCaptureList())
            if (capture_ptr->getSensor() == _sensor_ptr && capture_ptr->getType() == type) if (capture_ptr->getSensor() == _sensor_ptr && capture_ptr->getType() == type)
            ...@@ -264,7 +264,7 @@ CaptureBasePtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr) ...@@ -264,7 +264,7 @@ CaptureBasePtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr)
            return nullptr; return nullptr;
            } }
            CaptureBaseConstPtrList FrameBase::getCapturesOf(const SensorBasePtr _sensor_ptr) const CaptureBaseConstPtrList FrameBase::getCapturesOf(const SensorBaseConstPtr _sensor_ptr) const
            { {
            CaptureBaseConstPtrList captures; CaptureBaseConstPtrList captures;
            for (auto capture_ptr : getCaptureList()) for (auto capture_ptr : getCaptureList())
            ...@@ -282,7 +282,7 @@ CaptureBasePtrList FrameBase::getCapturesOf(const SensorBasePtr _sensor_ptr) ...@@ -282,7 +282,7 @@ CaptureBasePtrList FrameBase::getCapturesOf(const SensorBasePtr _sensor_ptr)
            return captures; return captures;
            } }
            FactorBaseConstPtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr, const std::string& type) const FactorBaseConstPtr FrameBase::getFactorOf(const ProcessorBaseConstPtr _processor_ptr, const std::string& type) const
            { {
            for (auto factor_ptr : getConstrainedByList()) for (auto factor_ptr : getConstrainedByList())
            if (factor_ptr->getProcessor() == _processor_ptr && factor_ptr->getType() == type) if (factor_ptr->getProcessor() == _processor_ptr && factor_ptr->getType() == type)
            ...@@ -308,7 +308,7 @@ FactorBasePtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr, cons ...@@ -308,7 +308,7 @@ FactorBasePtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr, cons
            return nullptr; return nullptr;
            } }
            FactorBaseConstPtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr) const FactorBaseConstPtr FrameBase::getFactorOf(const ProcessorBaseConstPtr _processor_ptr) const
            { {
            for (auto factor_ptr : getConstrainedByList()) for (auto factor_ptr : getConstrainedByList())
            if (factor_ptr->getProcessor() == _processor_ptr) if (factor_ptr->getProcessor() == _processor_ptr)
            ......
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