From c1edce33cd62085b84d8524a9329c6d7648122ce Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 27 Oct 2021 09:05:01 +0200
Subject: [PATCH] Remove copy constructor
---
include/core/state_block/state_composite.h | 1 -
src/sensor/sensor_base.cpp | 2 +-
src/state_block/state_composite.cpp | 26 +++++++++++-----------
3 files changed, 14 insertions(+), 15 deletions(-)
diff --git a/include/core/state_block/state_composite.h b/include/core/state_block/state_composite.h
index 7989fd807..d0ddf4e7f 100644
--- a/include/core/state_block/state_composite.h
+++ b/include/core/state_block/state_composite.h
@@ -31,7 +31,6 @@ class VectorComposite : public std::unordered_map < char, Eigen::VectorXd >
VectorComposite() {};
VectorComposite(const StateStructure& _s);
VectorComposite(const StateStructure& _s, const std::list<int>& _sizes);
- VectorComposite(const VectorComposite & v) : unordered_map<char, VectorXd>(v){};
/**
* \brief Construct from Eigen::VectorXd and structure
*
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index e78904988..0700d403f 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -301,7 +301,7 @@ bool SensorBase::process(const CaptureBasePtr capture_ptr)
{
capture_ptr->setSensor(shared_from_this());
- for (const auto processor : processor_list_)
+ for (const auto& processor : processor_list_)
{
#ifdef PROFILING
diff --git a/src/state_block/state_composite.cpp b/src/state_block/state_composite.cpp
index 169bc82ca..04658a0fb 100644
--- a/src/state_block/state_composite.cpp
+++ b/src/state_block/state_composite.cpp
@@ -112,9 +112,9 @@ wolf::VectorComposite operator +(const wolf::VectorComposite &_x, const wolf::Ve
return xpy;
}
-wolf::VectorComposite operator -(const wolf::VectorComposite &_x, const wolf::VectorComposite &_y)
+VectorComposite operator -(const VectorComposite &_x, const VectorComposite &_y)
{
- wolf::VectorComposite xpy;
+ VectorComposite xpy;
for (const auto& pair_i_xi : _x)
{
const auto& i = pair_i_xi.first;
@@ -124,6 +124,17 @@ wolf::VectorComposite operator -(const wolf::VectorComposite &_x, const wolf::Ve
return xpy;
}
+VectorComposite operator -(const wolf::VectorComposite &_x)
+{
+ wolf::VectorComposite m;
+ for (const auto& pair_i_xi : _x)
+ {
+ const auto& i = pair_i_xi.first;
+ m.emplace(i, - _x.at(i));
+ }
+ return m;
+}
+
void VectorComposite::set (const VectorXd& _v, const StateStructure& _structure, const std::list<int>& _sizes)
{
int index = 0;
@@ -145,17 +156,6 @@ void VectorComposite::setZero()
pair_key_vec.second.setZero();
}
-wolf::VectorComposite operator -(const wolf::VectorComposite &_x)
-{
- wolf::VectorComposite m;
- for (const auto& pair_i_xi : _x)
- {
- const auto& i = pair_i_xi.first;
- m.emplace(i, - _x.at(i));
- }
- return m;
-}
-
////// MATRIX COMPOSITE //////////
bool MatrixComposite::emplace(const char &_row, const char &_col, const Eigen::MatrixXd &_mat_blk)
--
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