From e0e1c081e7902e971008a0c8ddca45f2290f03b8 Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Mon, 26 Mar 2018 15:55:50 +0200
Subject: [PATCH] Do not use operator*= with Jets. (#1018)

---
 .../occupied_space_cost_function_2d.h         |  4 +-
 .../internal/pose_graph/cost_helpers.h        |  8 ++--
 .../internal/pose_graph/cost_helpers_impl.h   | 38 ++++++++++---------
 cartographer/transform/transform.h            |  8 ++--
 4 files changed, 31 insertions(+), 27 deletions(-)

diff --git a/cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h b/cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h
index 7ca59f9..7f0fb8d 100644
--- a/cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h
@@ -64,9 +64,9 @@ class OccupiedSpaceCostFunction2D {
       const Eigen::Matrix<T, 3, 1> world = transform * point;
       interpolator.Evaluate(
           (limits.max().x() - world[0]) / limits.resolution() - 0.5 +
-              double(kPadding),
+              static_cast<double>(kPadding),
           (limits.max().y() - world[1]) / limits.resolution() - 0.5 +
-              double(kPadding),
+              static_cast<double>(kPadding),
           &residual[i]);
       residual[i] = scaling_factor_ * (1. - residual[i]);
     }
diff --git a/cartographer/mapping/internal/pose_graph/cost_helpers.h b/cartographer/mapping/internal/pose_graph/cost_helpers.h
index 7b93942..9329d4a 100644
--- a/cartographer/mapping/internal/pose_graph/cost_helpers.h
+++ b/cartographer/mapping/internal/pose_graph/cost_helpers.h
@@ -35,8 +35,8 @@ static std::array<T, 3> ComputeUnscaledError(
     const transform::Rigid2d& relative_pose, const T* const start,
     const T* const end);
 template <typename T>
-std::array<T, 3> ScaleError(std::array<T, 3> error, double translation_weight,
-                            double rotation_weight);
+std::array<T, 3> ScaleError(const std::array<T, 3>& error,
+                            double translation_weight, double rotation_weight);
 
 // Computes the error between the given relative pose and the difference of
 // poses 'start' and 'end' which are both in an arbitrary common frame.
@@ -50,8 +50,8 @@ static std::array<T, 6> ComputeUnscaledError(
     const T* const end_translation);
 
 template <typename T>
-std::array<T, 6> ScaleError(std::array<T, 6> error, double translation_weight,
-                            double rotation_weight);
+std::array<T, 6> ScaleError(const std::array<T, 6>& error,
+                            double translation_weight, double rotation_weight);
 
 // Computes spherical linear interpolation of unit quaternions.
 //
diff --git a/cartographer/mapping/internal/pose_graph/cost_helpers_impl.h b/cartographer/mapping/internal/pose_graph/cost_helpers_impl.h
index e46c90b..6066ab2 100644
--- a/cartographer/mapping/internal/pose_graph/cost_helpers_impl.h
+++ b/cartographer/mapping/internal/pose_graph/cost_helpers_impl.h
@@ -39,13 +39,15 @@ static std::array<T, 3> ComputeUnscaledError(
 }
 
 template <typename T>
-std::array<T, 3> ScaleError(std::array<T, 3> error, double translation_weight,
-                            double rotation_weight) {
-  std::array<T, 3> scaled_error(std::move(error));
-  scaled_error[0] *= translation_weight;
-  scaled_error[1] *= translation_weight;
-  scaled_error[2] *= rotation_weight;
-  return scaled_error;
+std::array<T, 3> ScaleError(const std::array<T, 3>& error,
+                            double translation_weight, double rotation_weight) {
+  // clang-format off
+  return {{
+      error[0] * translation_weight,
+      error[1] * translation_weight,
+      error[2] * rotation_weight
+  }};
+  // clang-format on
 }
 
 template <typename T>
@@ -80,16 +82,18 @@ static std::array<T, 6> ComputeUnscaledError(
 }
 
 template <typename T>
-std::array<T, 6> ScaleError(std::array<T, 6> error, double translation_weight,
-                            double rotation_weight) {
-  std::array<T, 6> scaled_error(std::move(error));
-  scaled_error[0] *= translation_weight;
-  scaled_error[1] *= translation_weight;
-  scaled_error[2] *= translation_weight;
-  scaled_error[3] *= rotation_weight;
-  scaled_error[4] *= rotation_weight;
-  scaled_error[5] *= rotation_weight;
-  return scaled_error;
+std::array<T, 6> ScaleError(const std::array<T, 6>& error,
+                            double translation_weight, double rotation_weight) {
+  // clang-format off
+  return {{
+      error[0] * translation_weight,
+      error[1] * translation_weight,
+      error[2] * translation_weight,
+      error[3] * rotation_weight,
+      error[4] * rotation_weight,
+      error[5] * rotation_weight
+  }};
+  // clang-format on
 }
 
 //  Eigen implementation of slerp is not compatible with Ceres on all supported
diff --git a/cartographer/transform/transform.h b/cartographer/transform/transform.h
index 3d4b4c0..8c69cec 100644
--- a/cartographer/transform/transform.h
+++ b/cartographer/transform/transform.h
@@ -64,10 +64,10 @@ Eigen::Matrix<T, 3, 1> RotationQuaternionToAngleAxisVector(
   // angle that represents this orientation.
   if (normalized_quaternion.w() < 0.) {
     // Multiply by -1. http://eigen.tuxfamily.org/bz/show_bug.cgi?id=560
-    normalized_quaternion.w() *= -1.;
-    normalized_quaternion.x() *= -1.;
-    normalized_quaternion.y() *= -1.;
-    normalized_quaternion.z() *= -1.;
+    normalized_quaternion.w() = -1.* normalized_quaternion.w();
+    normalized_quaternion.x() = -1.* normalized_quaternion.x();
+    normalized_quaternion.y() = -1.* normalized_quaternion.y();
+    normalized_quaternion.z() = -1.* normalized_quaternion.z();
   }
   // We convert the normalized_quaternion into a vector along the rotation axis
   // with length of the rotation angle.