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Made params const

release/4.3a0
Frank dellaert 2020-07-24 15:39:02 -04:00
parent bf07e7a4d4
commit 272a5115bd
5 changed files with 9 additions and 9 deletions
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4
gtsam/navigation/CombinedImuFactor.h
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@ -156,7 +156,7 @@ public:
* @param biasHat Current estimate of acceleration and rotation rate biases
*/
PreintegratedCombinedMeasurements(
const boost::shared_ptr<Params>& p,
const boost::shared_ptr<const Params>& p,
const imuBias::ConstantBias& biasHat = imuBias::ConstantBias())
: PreintegrationType(p, biasHat) {
preintMeasCov_.setZero();
@ -184,7 +184,7 @@ public:
void resetIntegration() override;
/// const reference to params, shadows definition in base class
Params& p() const { return *boost::static_pointer_cast<Params>(this->p_); }
const Params& p() const { return *boost::static_pointer_cast<const Params>(this->p_); }
/// @}
/// @name Access instance variables

2
gtsam/navigation/PreintegrationBase.cpp
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@ -28,7 +28,7 @@ using namespace std;
namespace gtsam {
//------------------------------------------------------------------------------
PreintegrationBase::PreintegrationBase(const boost::shared_ptr<Params>& p,
PreintegrationBase::PreintegrationBase(const boost::shared_ptr<const Params>& p,
const Bias& biasHat)
: p_(p), biasHat_(biasHat), deltaTij_(0.0) {
}

8
gtsam/navigation/PreintegrationBase.h
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@ -44,7 +44,7 @@ class GTSAM_EXPORT PreintegrationBase {
typedef PreintegrationParams Params;
protected:
boost::shared_ptr<Params> p_;
boost::shared_ptr<const Params> p_;
/// Acceleration and gyro bias used for preintegration
Bias biasHat_;
@ -67,7 +67,7 @@ class GTSAM_EXPORT PreintegrationBase {
* @param p Parameters, typically fixed in a single application
* @param bias Current estimate of acceleration and rotation rate biases
*/
PreintegrationBase(const boost::shared_ptr<Params>& p,
PreintegrationBase(const boost::shared_ptr<const Params>& p,
const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());
/// @}
@ -88,13 +88,13 @@ class GTSAM_EXPORT PreintegrationBase {
}
/// shared pointer to params
const boost::shared_ptr<Params>& params() const {
const boost::shared_ptr<const Params>& params() const {
return p_;
}
/// const reference to params
const Params& p() const {
return *boost::static_pointer_cast<Params>(p_);
return *p_;
}
/// @}

2
gtsam/navigation/TangentPreintegration.cpp
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@ -24,7 +24,7 @@ using namespace std;
namespace gtsam {
//------------------------------------------------------------------------------
TangentPreintegration::TangentPreintegration(const boost::shared_ptr<Params>& p,
TangentPreintegration::TangentPreintegration(const boost::shared_ptr<const Params>& p,
const Bias& biasHat) :
PreintegrationBase(p, biasHat) {
resetIntegration();

2
gtsam/navigation/TangentPreintegration.h
View File

@ -50,7 +50,7 @@ public:
* @param p Parameters, typically fixed in a single application
* @param bias Current estimate of acceleration and rotation rate biases
*/
TangentPreintegration(const boost::shared_ptr<Params>& p,
TangentPreintegration(const boost::shared_ptr<const Params>& p,
const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());
/// Virtual destructor