Use for(auto& ...) instead of for(auto ...)

hello_wolf/hello_wolf.cpp

@@ -148,7 +148,7 @@ int main()
 
     // SELF-CALIBRATION OF SENSOR ORIENTATION
     // Uncomment this line below to achieve sensor self-calibration (of the orientation only, since the position is not observable)
-    // sensor_rb->getO()->unfix();
+    sensor_rb->getO()->unfix();
 
     // SELF-CALIBRATION OF SENSOR POSITION
     // The position is however not observable, and thus self-calibration would not work. You can try uncommenting the line below.
@@ -221,17 +221,17 @@ int main()
 
     // PERTURB initial guess
     WOLF_TRACE("======== PERTURB PROBLEM PRIORS =======")
-    for (auto sen : problem->getHardware()->getSensorList())
-        for (auto sb : sen->getStateBlockVec())
+    for (auto& sen : problem->getHardware()->getSensorList())
+        for (auto& sb : sen->getStateBlockVec())
             if (sb && !sb->isFixed())
                 sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5);       // We perturb A LOT !
-    for (auto kf : problem->getTrajectory()->getFrameList())
+    for (auto& kf : problem->getTrajectory()->getFrameList())
         if (kf->isKeyOrAux())
-            for (auto sb : kf->getStateBlockVec())
+            for (auto& sb : kf->getStateBlockVec())
                 if (sb && !sb->isFixed())
                     sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5);   // We perturb A LOT !
-    for (auto lmk : problem->getMap()->getLandmarkList())
-        for (auto sb : lmk->getStateBlockVec())
+    for (auto& lmk : problem->getMap()->getLandmarkList())
+        for (auto& sb : lmk->getStateBlockVec())
             if (sb && !sb->isFixed())
                 sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5);       // We perturb A LOT !
     problem->print(1,0,1,0);
@@ -245,19 +245,19 @@ int main()
     // GET COVARIANCES of all states
     WOLF_TRACE("======== COVARIANCES OF SOLVED PROBLEM =======")
     ceres->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
-    for (auto kf : problem->getTrajectory()->getFrameList())
+    for (auto& kf : problem->getTrajectory()->getFrameList())
         if (kf->isKeyOrAux())
         {
             Eigen::MatrixXs cov;
             kf->getCovariance(cov);
             WOLF_TRACE("KF", kf->id(), "_cov = \n", cov);
         }
-    for (auto lmk : problem->getMap()->getLandmarkList())
-        {
-            Eigen::MatrixXs cov;
-            lmk->getCovariance(cov);
-            WOLF_TRACE("L", lmk->id(), "_cov = \n", cov);
-        }
+    for (auto& lmk : problem->getMap()->getLandmarkList())
+    {
+        Eigen::MatrixXs cov;
+        lmk->getCovariance(cov);
+        WOLF_TRACE("L", lmk->id(), "_cov = \n", cov);
+    }
     std::cout << std::endl;
 
     WOLF_TRACE("======== FINAL PRINT FOR INTERPRETATION =======")

hello_wolf/hello_wolf_autoconf.cpp

@@ -204,17 +204,17 @@ int main()
 
     // PERTURB initial guess
     WOLF_TRACE("======== PERTURB PROBLEM PRIORS =======")
-    for (auto sen : problem->getHardware()->getSensorList())
-        for (auto sb : sen->getStateBlockVec())
+    for (auto& sen : problem->getHardware()->getSensorList())
+        for (auto& sb : sen->getStateBlockVec())
             if (sb && !sb->isFixed())
                 sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5);       // We perturb A LOT !
-    for (auto kf : problem->getTrajectory()->getFrameList())
+    for (auto& kf : problem->getTrajectory()->getFrameList())
         if (kf->isKeyOrAux())
-            for (auto sb : kf->getStateBlockVec())
+            for (auto& sb : kf->getStateBlockVec())
                 if (sb && !sb->isFixed())
                     sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5);   // We perturb A LOT !
-    for (auto lmk : problem->getMap()->getLandmarkList())
-        for (auto sb : lmk->getStateBlockVec())
+    for (auto& lmk : problem->getMap()->getLandmarkList())
+        for (auto& sb : lmk->getStateBlockVec())
             if (sb && !sb->isFixed())
                 sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5);       // We perturb A LOT !
     problem->print(1,0,1,0);
@@ -228,19 +228,19 @@ int main()
     // GET COVARIANCES of all states
     WOLF_TRACE("======== COVARIANCES OF SOLVED PROBLEM =======")
     ceres->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
-    for (auto kf : problem->getTrajectory()->getFrameList())
+    for (auto& kf : problem->getTrajectory()->getFrameList())
         if (kf->isKeyOrAux())
         {
             Eigen::MatrixXs cov;
             kf->getCovariance(cov);
             WOLF_TRACE("KF", kf->id(), "_cov = \n", cov);
         }
-    for (auto lmk : problem->getMap()->getLandmarkList())
-        {
-            Eigen::MatrixXs cov;
-            lmk->getCovariance(cov);
-            WOLF_TRACE("L", lmk->id(), "_cov = \n", cov);
-        }
+    for (auto& lmk : problem->getMap()->getLandmarkList())
+    {
+        Eigen::MatrixXs cov;
+        lmk->getCovariance(cov);
+        WOLF_TRACE("L", lmk->id(), "_cov = \n", cov);
+    }
     std::cout << std::endl;
 
     WOLF_TRACE("======== FINAL PRINT FOR INTERPRETATION =======")