getLists return via copy (thread safer)

include/core/capture/capture_base.h

@@ -88,8 +88,8 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
         void setFrame(const FrameBasePtr _frm_ptr);
 
     public:
-        const FeatureBaseConstPtrList& getFeatureList() const;
-        const FeatureBasePtrList& getFeatureList();
+        FeatureBaseConstPtrList getFeatureList() const;
+        FeatureBasePtrList getFeatureList();
         
         FactorBaseConstPtrList getFactorList() const;
         FactorBasePtrList getFactorList();
@@ -107,8 +107,8 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
 
     public:
         unsigned int getHits() const;
-        const FactorBaseConstPtrList& getConstrainedByList() const;
-        const FactorBasePtrList& getConstrainedByList();
+        FactorBaseConstPtrList getConstrainedByList() const;
+        FactorBasePtrList getConstrainedByList();
         bool isConstrainedBy(const FactorBaseConstPtr &_factor) const;
 
         // State blocks
@@ -222,12 +222,12 @@ inline void CaptureBase::setFrame(const FrameBasePtr _frm_ptr)
     frame_ptr_ = _frm_ptr;
 }
 
-inline const FeatureBaseConstPtrList& CaptureBase::getFeatureList() const
+inline FeatureBaseConstPtrList CaptureBase::getFeatureList() const
 {
     return feature_const_list_;
 }
 
-inline const FeatureBasePtrList& CaptureBase::getFeatureList()
+inline FeatureBasePtrList CaptureBase::getFeatureList()
 {
     return feature_list_;
 }
@@ -237,12 +237,12 @@ inline unsigned int CaptureBase::getHits() const
     return constrained_by_list_.size();
 }
 
-inline const FactorBaseConstPtrList& CaptureBase::getConstrainedByList() const
+inline FactorBaseConstPtrList CaptureBase::getConstrainedByList() const
 {
     return constrained_by_const_list_;
 }
 
-inline const FactorBasePtrList& CaptureBase::getConstrainedByList()
+inline FactorBasePtrList CaptureBase::getConstrainedByList()
 {
     return constrained_by_list_;
 }

include/core/feature/feature_base.h

@@ -124,14 +124,14 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
         CaptureBaseConstPtr getCapture() const;
         CaptureBasePtr getCapture();
 
-        const FactorBaseConstPtrList& getFactorList() const;
-        const FactorBasePtrList& getFactorList();
+        FactorBaseConstPtrList getFactorList() const;
+        FactorBasePtrList getFactorList();
         void getFactorList(FactorBaseConstPtrList & _fac_list) const;
         void getFactorList(FactorBasePtrList & _fac_list);
 
         unsigned int getHits() const;
-        const FactorBaseConstPtrList& getConstrainedByList() const;
-        const FactorBasePtrList& getConstrainedByList();
+        FactorBaseConstPtrList getConstrainedByList() const;
+        FactorBasePtrList getConstrainedByList();
         bool isConstrainedBy(const FactorBaseConstPtr &_factor) const;
 
         void link(CaptureBasePtr cap_ptr);
@@ -183,12 +183,22 @@ inline unsigned int FeatureBase::getHits() const
     return constrained_by_list_.size();
 }
 
-inline const FactorBaseConstPtrList& FeatureBase::getConstrainedByList() const
+inline FactorBaseConstPtrList FeatureBase::getFactorList() const
+{
+    return factor_const_list_;
+}
+
+inline FactorBasePtrList FeatureBase::getFactorList()
+{
+    return factor_list_;
+}
+
+inline FactorBaseConstPtrList FeatureBase::getConstrainedByList() const
 {
     return constrained_by_const_list_;
 }
 
-inline const FactorBasePtrList& FeatureBase::getConstrainedByList()
+inline FactorBasePtrList FeatureBase::getConstrainedByList()
 {
     return constrained_by_list_;
 }

include/core/frame/frame_base.h

@@ -127,16 +127,16 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
         FrameBasePtr getPreviousFrame();
         FrameBasePtr getNextFrame();
 
-        const CaptureBaseConstPtrList& getCaptureList() const;
-        const CaptureBasePtrList& getCaptureList();
+        CaptureBaseConstPtrList getCaptureList() const;
+        CaptureBasePtrList getCaptureList();
 
         FactorBaseConstPtrList getFactorList() const;
         FactorBasePtrList getFactorList();
         void getFactorList(FactorBaseConstPtrList& _fac_list) const;
         void getFactorList(FactorBasePtrList& _fac_list);
 
-        const FactorBaseConstPtrList& getConstrainedByList() const;
-        const FactorBasePtrList& getConstrainedByList();
+        FactorBaseConstPtrList getConstrainedByList() const;
+        FactorBasePtrList getConstrainedByList();
         bool isConstrainedBy(const FactorBaseConstPtr& _factor) const;
 
         template <class C>
@@ -254,12 +254,12 @@ inline TrajectoryBasePtr FrameBase::getTrajectory()
     return trajectory_ptr_.lock();
 }
 
-inline const CaptureBaseConstPtrList& FrameBase::getCaptureList() const
+inline CaptureBaseConstPtrList FrameBase::getCaptureList() const
 {
     return capture_const_list_;
 }
 
-inline const CaptureBasePtrList& FrameBase::getCaptureList()
+inline CaptureBasePtrList FrameBase::getCaptureList()
 {
     return capture_list_;
 }
@@ -269,12 +269,12 @@ inline unsigned int FrameBase::getHits() const
     return constrained_by_list_.size();
 }
 
-inline const FactorBaseConstPtrList& FrameBase::getConstrainedByList() const
+inline FactorBaseConstPtrList FrameBase::getConstrainedByList() const
 {
     return constrained_by_const_list_;
 }
 
-inline const FactorBasePtrList& FrameBase::getConstrainedByList()
+inline FactorBasePtrList FrameBase::getConstrainedByList()
 {
     return constrained_by_list_;
 }

include/core/hardware/hardware_base.h

@@ -47,8 +47,8 @@ class HardwareBase : public NodeBase, public std::enable_shared_from_this<Hardwa
         HardwareBase();
         ~HardwareBase() override;
 
-        const SensorBaseConstPtrList& getSensorList() const;
-        const SensorBasePtrList& getSensorList();
+        SensorBaseConstPtrList getSensorList() const;
+        SensorBasePtrList getSensorList();
 
         virtual void printHeader(int depth, //
                                  bool constr_by, //
@@ -76,12 +76,12 @@ class HardwareBase : public NodeBase, public std::enable_shared_from_this<Hardwa
 
 namespace wolf {
 
-inline const SensorBaseConstPtrList& HardwareBase::getSensorList() const
+inline SensorBaseConstPtrList HardwareBase::getSensorList() const
 {
     return sensor_const_list_;
 }
 
-inline const SensorBasePtrList& HardwareBase::getSensorList()
+inline SensorBasePtrList HardwareBase::getSensorList()
 {
     return sensor_list_;
 }

include/core/landmark/landmark_base.h

@@ -93,8 +93,8 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_
         void setDescriptor(const Eigen::VectorXd& _descriptor);
 
         unsigned int getHits() const;
-        const FactorBaseConstPtrList& getConstrainedByList() const;
-        const FactorBasePtrList& getConstrainedByList();
+        FactorBaseConstPtrList getConstrainedByList() const;
+        FactorBasePtrList getConstrainedByList();
         bool isConstrainedBy(const FactorBaseConstPtr &_factor) const;
 
         MapBaseConstPtr getMap() const;
@@ -182,12 +182,12 @@ inline unsigned int LandmarkBase::getHits() const
     return constrained_by_list_.size();
 }
 
-inline const FactorBaseConstPtrList& LandmarkBase::getConstrainedByList() const
+inline FactorBaseConstPtrList LandmarkBase::getConstrainedByList() const
 {
     return constrained_by_const_list_;
 }
 
-inline const FactorBasePtrList& LandmarkBase::getConstrainedByList()
+inline FactorBasePtrList LandmarkBase::getConstrainedByList()
 {
     return constrained_by_list_;
 }

include/core/map/map_base.h

@@ -112,8 +112,8 @@ class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase>
         virtual void removeLandmark(LandmarkBasePtr _landmark_ptr);
 
     public:
-        const LandmarkBaseConstPtrList& getLandmarkList() const;
-        const LandmarkBasePtrList& getLandmarkList();
+        LandmarkBaseConstPtrList getLandmarkList() const;
+        LandmarkBasePtrList getLandmarkList();
         
         void load(const std::string& _map_file_yaml);
         void save(const std::string& _map_file_yaml, const std::string& _map_name = "Map automatically saved by Wolf");
@@ -138,12 +138,12 @@ class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase>
         std::string dateTimeNow();
 };
 
-inline const LandmarkBaseConstPtrList& MapBase::getLandmarkList() const
+inline LandmarkBaseConstPtrList MapBase::getLandmarkList() const
 {
     return landmark_const_list_;
 }
 
-inline const LandmarkBasePtrList& MapBase::getLandmarkList()
+inline LandmarkBasePtrList MapBase::getLandmarkList()
 {
     return landmark_list_;
 }

include/core/sensor/sensor_base.h

@@ -184,8 +184,8 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
         void removeProcessor(ProcessorBasePtr _proc_ptr);
 
     public:
-        const ProcessorBaseConstPtrList& getProcessorList() const;
-        const ProcessorBasePtrList& getProcessorList();
+        ProcessorBaseConstPtrList getProcessorList() const;
+        ProcessorBasePtrList getProcessorList();
 
         CaptureBaseConstPtr getLastCapture() const;
         CaptureBasePtr getLastCapture();
@@ -315,12 +315,12 @@ inline unsigned int SensorBase::id() const
     return sensor_id_;
 }
 
-inline const ProcessorBaseConstPtrList& SensorBase::getProcessorList() const
+inline ProcessorBaseConstPtrList SensorBase::getProcessorList() const
 {
     return processor_const_list_;
 }
 
-inline const ProcessorBasePtrList& SensorBase::getProcessorList()
+inline ProcessorBasePtrList SensorBase::getProcessorList()
 {
     return processor_list_;
 }

include/core/trajectory/trajectory_base.h

@@ -53,8 +53,8 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
         ~TrajectoryBase() override;
         
         // Frames
-        const FrameConstPtrMap& getFrameMap() const;
-        const FramePtrMap& getFrameMap();
+        FrameConstPtrMap getFrameMap() const;
+        FramePtrMap getFrameMap();
         FrameBaseConstPtr getLastFrame() const;
         FrameBasePtr getLastFrame();
         FrameBaseConstPtr getFirstFrame() const;
@@ -88,12 +88,12 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
         void getFactorList(FactorBasePtrList & _fac_list);
 };
 
-inline const FrameConstPtrMap& TrajectoryBase::getFrameMap() const
+inline FrameConstPtrMap TrajectoryBase::getFrameMap() const
 {
     return frame_const_map_;
 }
 
-inline const FramePtrMap& TrajectoryBase::getFrameMap()
+inline FramePtrMap TrajectoryBase::getFrameMap()
 {
     return frame_map_;
 }

src/feature/feature_base.cpp

@@ -134,16 +134,6 @@ bool FeatureBase::isConstrainedBy(const FactorBaseConstPtr &_factor) const
                      _factor) != constrained_by_const_list_.end();
 }
 
-const FactorBaseConstPtrList& FeatureBase::getFactorList() const
-{
-    return factor_const_list_;
-}
-
-const FactorBasePtrList& FeatureBase::getFactorList()
-{
-    return factor_list_;
-}
-
 void FeatureBase::getFactorList(FactorBaseConstPtrList & _fac_list) const
 {
     _fac_list.insert(_fac_list.end(), factor_const_list_.begin(), factor_const_list_.end());