From fb947f5c7e91dbf925e2ebd16e7d37e9f6a4e4d4 Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Mon, 19 Feb 2018 14:40:13 +0100
Subject: [PATCH] Avoid auto for Eigen expressiongs. (#719)

While harmless in most cases, auto can delay evaluation
of expressions in unexpected ways.
So it is better to avoid auto for Eigen expressions.
https://eigen.tuxfamily.org/dox/TopicPitfalls.html
---
 cartographer_ros/cartographer_ros/msg_conversion.cc       | 4 ++--
 cartographer_ros/cartographer_ros/rosbag_validate_main.cc | 2 +-
 cartographer_ros/cartographer_ros/sensor_bridge.cc        | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/msg_conversion.cc b/cartographer_ros/cartographer_ros/msg_conversion.cc
index 22b183a..448c4aa 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.cc
+++ b/cartographer_ros/cartographer_ros/msg_conversion.cc
@@ -133,7 +133,7 @@ LaserScanToPointCloudWithIntensities(const LaserMessageType& msg) {
   if (!point_cloud.points.empty()) {
     const double duration = point_cloud.points.back()[3];
     timestamp += cartographer::common::FromSeconds(duration);
-    for (auto& point : point_cloud.points) {
+    for (Eigen::Vector4f& point : point_cloud.points) {
       point[3] -= duration;
     }
   }
@@ -157,7 +157,7 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
     const ::cartographer::sensor::TimedPointCloud& point_cloud) {
   auto msg = PreparePointCloud2Message(timestamp, frame_id, point_cloud.size());
   ::ros::serialization::OStream stream(msg.data.data(), msg.data.size());
-  for (const auto& point : point_cloud) {
+  for (const Eigen::Vector4f& point : point_cloud) {
     stream.next(point.x());
     stream.next(point.y());
     stream.next(point.z());
diff --git a/cartographer_ros/cartographer_ros/rosbag_validate_main.cc b/cartographer_ros/cartographer_ros/rosbag_validate_main.cc
index 91c4f34..627b661 100644
--- a/cartographer_ros/cartographer_ros/rosbag_validate_main.cc
+++ b/cartographer_ros/cartographer_ros/rosbag_validate_main.cc
@@ -177,7 +177,7 @@ class RangeDataChecker {
     const cartographer::sensor::TimedPointCloud& point_cloud =
         std::get<0>(point_cloud_with_intensities).points;
     Eigen::Vector4f points_sum = Eigen::Vector4f::Zero();
-    for (const auto& point : point_cloud) {
+    for (const Eigen::Vector4f& point : point_cloud) {
       points_sum += point;
     }
     return {point_cloud.size(), points_sum};
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index ad10674..204a829 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@@ -192,7 +192,7 @@ void SensorBridge::HandleLaserScan(
     // send all other sensor data first.
     const carto::common::Time subdivision_time =
         time + carto::common::FromSeconds(time_to_subdivision_end);
-    for (auto& point : subdivision) {
+    for (Eigen::Vector4f& point : subdivision) {
       point[3] -= time_to_subdivision_end;
     }
     CHECK_EQ(subdivision.back()[3], 0);