From ab9aec503f89aa48035c298e33c578fd8baf5bf9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 1 Apr 2020 01:47:04 +0200
Subject: [PATCH] Implement lists of NodeOther and API
---
include/core/factor/factor_base.h | 8 ++--
src/factor/factor_base.cpp | 64 +++++++++++++++----------------
2 files changed, 36 insertions(+), 36 deletions(-)
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 8ecf4fe49..16311a196 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -182,10 +182,10 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
FeatureBaseWPtrList getFeatureOtherList() const { return feature_other_list_; }
LandmarkBaseWPtrList getLandmarkOtherList() const { return landmark_other_list_; }
- bool hasFrameOther(const FrameBasePtr& _frm_other);
- bool hasCaptureOther(const CaptureBasePtr& _cap_other);
- bool hasFeatureOther(const FeatureBasePtr& _ftr_other);
- bool hasLandmarkOther(const LandmarkBasePtr& _lmk_other);
+ bool hasFrameOther(const FrameBasePtr& _frm_other) const;
+ bool hasCaptureOther(const CaptureBasePtr& _cap_other) const;
+ bool hasFeatureOther(const FeatureBasePtr& _ftr_other) const;
+ bool hasLandmarkOther(const LandmarkBasePtr& _lmk_other) const;
public:
/**
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 8e39c60db..3b6b99fe8 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -169,60 +169,60 @@ void FactorBase::setStatus(FactorStatus _status)
status_ = _status;
}
-bool FactorBase::hasFrameOther(const FrameBasePtr &_frm_other)
+bool FactorBase::hasFrameOther(const FrameBasePtr &_frm_other) const
{
- FrameBaseWPtrList::iterator frm_it = find_if(frame_other_list_.begin(),
- frame_other_list_.end(),
- [_frm_other](const FrameBaseWPtr &frm_ow)
- {
- return frm_ow.lock() == _frm_other;
- }
- );
+ FrameBaseWConstIter frm_it = find_if(frame_other_list_.begin(),
+ frame_other_list_.end(),
+ [_frm_other](const FrameBaseWPtr &frm_ow)
+ {
+ return frm_ow.lock() == _frm_other;
+ }
+ );
if (frm_it != frame_other_list_.end())
return true;
return false;
}
-bool FactorBase::hasCaptureOther(const CaptureBasePtr &_cap_other)
+bool FactorBase::hasCaptureOther(const CaptureBasePtr &_cap_other) const
{
- CaptureBaseWPtrList::iterator cap_it = find_if(capture_other_list_.begin(),
- capture_other_list_.end(),
- [_cap_other](const CaptureBaseWPtr &cap_ow)
- {
- return cap_ow.lock() == _cap_other;
- }
- );
+ CaptureBaseWConstIter cap_it = find_if(capture_other_list_.begin(),
+ capture_other_list_.end(),
+ [_cap_other](const CaptureBaseWPtr &cap_ow)
+ {
+ return cap_ow.lock() == _cap_other;
+ }
+ );
if (cap_it != capture_other_list_.end())
return true;
return false;
}
-bool FactorBase::hasFeatureOther(const FeatureBasePtr &_ftr_other)
+bool FactorBase::hasFeatureOther(const FeatureBasePtr &_ftr_other) const
{
- FeatureBaseWPtrList::iterator ftr_it = find_if(feature_other_list_.begin(),
- feature_other_list_.end(),
- [_ftr_other](const FeatureBaseWPtr &ftr_ow)
- {
- return ftr_ow.lock() == _ftr_other;
- }
- );
+ FeatureBaseWConstIter ftr_it = find_if(feature_other_list_.begin(),
+ feature_other_list_.end(),
+ [_ftr_other](const FeatureBaseWPtr &ftr_ow)
+ {
+ return ftr_ow.lock() == _ftr_other;
+ }
+ );
if (ftr_it != feature_other_list_.end())
return true;
return false;
}
-bool FactorBase::hasLandmarkOther(const LandmarkBasePtr &_lmk_other)
+bool FactorBase::hasLandmarkOther(const LandmarkBasePtr &_lmk_other) const
{
- LandmarkBaseWPtrList::iterator lmk_it = find_if(landmark_other_list_.begin(),
- landmark_other_list_.end(),
- [_lmk_other](const LandmarkBaseWPtr &lmk_ow)
- {
- return lmk_ow.lock() == _lmk_other;
- }
- );
+ LandmarkBaseWConstIter lmk_it = find_if(landmark_other_list_.begin(),
+ landmark_other_list_.end(),
+ [_lmk_other](const LandmarkBaseWPtr &lmk_ow)
+ {
+ return lmk_ow.lock() == _lmk_other;
+ }
+ );
if (lmk_it != landmark_other_list_.end())
return true;
--
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