From 0529516ebb286621d25ac931944a15cf062aef89 Mon Sep 17 00:00:00 2001
From: Francois Keith <francois.keith@inrialpes.fr>
Date: Mon, 18 Jul 2011 17:29:39 +0200
Subject: [PATCH] Adding const operator wherever it's possible
---
include/jrl/walkgen/patterngeneratorinterface.hh | 12 ++++++------
.../FootTrajectoryGenerationAbstract.h | 8 ++++----
.../FootTrajectoryGenerationMultiple.cpp | 12 ++++++------
.../FootTrajectoryGenerationMultiple.h | 12 ++++++------
src/Mathematics/Polynome.cpp | 4 ++--
src/Mathematics/Polynome.h | 4 ++--
src/PatternGeneratorInterfacePrivate.cpp | 13 +++++++------
.../OrientationsPreview.cpp | 4 ++--
.../OrientationsPreview.h | 6 +++---
src/patterngeneratorinterfaceprivate.hh | 12 ++++++------
10 files changed, 44 insertions(+), 43 deletions(-)
diff --git a/include/jrl/walkgen/patterngeneratorinterface.hh b/include/jrl/walkgen/patterngeneratorinterface.hh
index ee096c12..83b93211 100644
--- a/include/jrl/walkgen/patterngeneratorinterface.hh
+++ b/include/jrl/walkgen/patterngeneratorinterface.hh
@@ -184,11 +184,11 @@ namespace PatternGeneratorJRL
virtual void SetCurrentJointValues(MAL_VECTOR( &lCurrentJointValues,double))=0;
/*! \brief Returns the walking mode. */
- virtual int GetWalkMode()=0;
+ virtual int GetWalkMode() const=0;
/*! \brief Get the leg joint velocity */
virtual void GetLegJointVelocity(MAL_VECTOR( &dqr,double),
- MAL_VECTOR( &dql,double))=0;
+ MAL_VECTOR( &dql,double)) const=0;
/*! \brief Read a sequence of steps. */
virtual void ReadSequenceOfSteps(std::istringstream &strm)=0;
@@ -240,7 +240,7 @@ namespace PatternGeneratorJRL
/*! \brief Get the waist position and orientation as a quaternion,
and the planar X-Y orientation in Orientation. */
- virtual void getWaistPositionAndOrientation(double TQ[7],double &Orientation)=0;
+ virtual void getWaistPositionAndOrientation(double TQ[7],double &Orientation) const=0;
/*! \brief Set Waist position and Orientation */
virtual void setWaistPositionAndOrientation(double TQ[7])=0;
@@ -248,10 +248,10 @@ namespace PatternGeneratorJRL
/*! \brief Get Waist velocity */
virtual void getWaistVelocity(double &dx,
double &dy,
- double &omega)=0;
+ double &omega) const=0;
/*! \brief An other method to get the waist position using a matrix. */
- virtual void getWaistPositionMatrix(MAL_S4x4_MATRIX( &lWaistAbsPos,double))=0;
+ virtual void getWaistPositionMatrix(MAL_S4x4_MATRIX( &lWaistAbsPos,double)) const=0;
/*!@} */
@@ -260,7 +260,7 @@ namespace PatternGeneratorJRL
virtual void setZMPInitialPoint(MAL_S3_VECTOR(&,double) lZMPInitialPoint)=0;
/*! \brief Get the initial ZMP reference point. */
- virtual void getZMPInitialPoint(MAL_S3_VECTOR(&,double) lZMPInitialPoint)=0;
+ virtual void getZMPInitialPoint(MAL_S3_VECTOR(&,double) lZMPInitialPoint) const=0;
/*! \name System to call a given method based on registration of a method.
@{
diff --git a/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.h b/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.h
index 50db2ccf..c6343556 100644
--- a/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.h
+++ b/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.h
@@ -134,7 +134,7 @@ namespace PatternGeneratorJRL
{ m_TSingle =aTSingle;};
/*! \brief Get single support time */
- double GetSingleSupportTime()
+ double GetSingleSupportTime() const
{ return m_TSingle;};
/*! @} */
@@ -147,7 +147,7 @@ namespace PatternGeneratorJRL
{ m_TDouble =aTDouble;};
/*! \brief Get single support time */
- double GetDoubleSupportTime()
+ double GetDoubleSupportTime() const
{ return m_TDouble;};
/*! @}*/
@@ -161,7 +161,7 @@ namespace PatternGeneratorJRL
{ m_SamplingPeriod = aSamplingPeriod;};
/*! \brief Get single support time */
- double GetSamplingPeriod()
+ double GetSamplingPeriod() const
{ return m_SamplingPeriod;};
/*!@}*/
@@ -170,7 +170,7 @@ namespace PatternGeneratorJRL
@{*/
/*! Get Omega */
- double GetOmega()
+ double GetOmega() const
{ return m_Omega; };
/*! Set Omega */
diff --git a/src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp b/src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp
index fba8d701..9b816af0 100644
--- a/src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp
+++ b/src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp
@@ -67,13 +67,13 @@ void FootTrajectoryGenerationMultiple::SetNumberOfIntervals(int lNumberOfInterva
m_NatureOfIntervals.resize(lNumberOfIntervals);
}
-int FootTrajectoryGenerationMultiple::GetNumberOfIntervals()
+int FootTrajectoryGenerationMultiple::GetNumberOfIntervals() const
{
return m_SetOfFootTrajectoryGenerationObjects.size();
}
-void FootTrajectoryGenerationMultiple::SetTimeIntervals(vector<double> &lDeltaTj)
+void FootTrajectoryGenerationMultiple::SetTimeIntervals(const vector<double> &lDeltaTj)
{
m_DeltaTj = lDeltaTj;
m_RefTime.resize(lDeltaTj.size());
@@ -88,7 +88,7 @@ void FootTrajectoryGenerationMultiple::SetTimeIntervals(vector<double> &lDeltaTj
}
-void FootTrajectoryGenerationMultiple::GetTimeIntervals(vector<double> &lDeltaTj)
+void FootTrajectoryGenerationMultiple::GetTimeIntervals(vector<double> &lDeltaTj) const
{
lDeltaTj = m_DeltaTj;
}
@@ -190,7 +190,7 @@ int FootTrajectoryGenerationMultiple::SetNatureInterval(unsigned int IntervalInd
/*! This method returns the nature of the interval.
*/
-int FootTrajectoryGenerationMultiple::GetNatureInterval(unsigned int IntervalIndex)
+int FootTrajectoryGenerationMultiple::GetNatureInterval(unsigned int IntervalIndex) const
{
if (IntervalIndex>=m_NatureOfIntervals.size())
return -100;
@@ -228,7 +228,7 @@ int FootTrajectoryGenerationMultiple::SetParametersWithInitPosInitSpeed(unsigned
}
-double FootTrajectoryGenerationMultiple::GetAbsoluteTimeReference()
+double FootTrajectoryGenerationMultiple::GetAbsoluteTimeReference() const
{
return m_AbsoluteTimeReference;
}
@@ -243,7 +243,7 @@ void FootTrajectoryGenerationMultiple::CallMethod(std::string &, //Method,
{
}
-int FootTrajectoryGenerationMultiple::DisplayIntervals()
+int FootTrajectoryGenerationMultiple::DisplayIntervals() const
{
for(unsigned int i=0;i<m_DeltaTj.size();i++)
{
diff --git a/src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.h b/src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.h
index 66a77c87..c79c63ac 100644
--- a/src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.h
+++ b/src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.h
@@ -96,22 +96,22 @@ namespace PatternGeneratorJRL
void SetNumberOfIntervals(int lNumberOfIntervals);
/*! \brief Get number of intervals. */
- int GetNumberOfIntervals();
+ int GetNumberOfIntervals() const;
/*! \brief Set the time for each interval. */
- void SetTimeIntervals(std::vector<double> & lDeltaTj);
+ void SetTimeIntervals(const std::vector<double> & lDeltaTj);
/*! \brief Get the time for each interval */
- void GetTimeIntervals(std::vector<double> & lDeltaTj);
+ void GetTimeIntervals(std::vector<double> & lDeltaTj) const;
/*! \brief Set nature of interval */
int SetNatureInterval(unsigned int IntervalIndex, int Nature);
/*! \brief Get nature of interval */
- int GetNatureInterval(unsigned int IntervalIndex);
+ int GetNatureInterval(unsigned int IntervalIndex) const;
/*! \brief Display intervals time. */
- int DisplayIntervals();
+ int DisplayIntervals() const;
/*! @} */
@@ -157,7 +157,7 @@ namespace PatternGeneratorJRL
@{ */
/*! Returns the time when the trajectory starts. */
- double GetAbsoluteTimeReference();
+ double GetAbsoluteTimeReference() const;
/*! Set the time when the trajectory starts. */
void SetAbsoluteTimeReference(double lAbsoluteTimeReference);
diff --git a/src/Mathematics/Polynome.cpp b/src/Mathematics/Polynome.cpp
index 5e3f3b58..a978b190 100644
--- a/src/Mathematics/Polynome.cpp
+++ b/src/Mathematics/Polynome.cpp
@@ -81,12 +81,12 @@ void Polynome::GetCoefficients(vector<double> &lCoefficients) const
}
-void Polynome::SetCoefficients(vector<double> &lCoefficients)
+void Polynome::SetCoefficients(const vector<double> &lCoefficients)
{
m_Coefficients = lCoefficients;
}
-void Polynome::print()
+void Polynome::print() const
{
for(unsigned int i=0;i<m_Coefficients.size();i++)
cout << m_Coefficients[i] << " " ;
diff --git a/src/Mathematics/Polynome.h b/src/Mathematics/Polynome.h
index 5f4cce41..afe986cf 100644
--- a/src/Mathematics/Polynome.h
+++ b/src/Mathematics/Polynome.h
@@ -64,14 +64,14 @@ namespace PatternGeneratorJRL
void GetCoefficients(std::vector<double> &lCoefficients) const;
/*! Set the coefficients. */
- void SetCoefficients(std::vector<double> &lCoefficients);
+ void SetCoefficients(const std::vector<double> &lCoefficients);
inline int Degree()
{ return m_Degree; };
/*! Print the coefficient. */
- void print();
+ void print() const;
protected:
diff --git a/src/PatternGeneratorInterfacePrivate.cpp b/src/PatternGeneratorInterfacePrivate.cpp
index 4bca9e15..491fd6a8 100644
--- a/src/PatternGeneratorInterfacePrivate.cpp
+++ b/src/PatternGeneratorInterfacePrivate.cpp
@@ -1543,7 +1543,7 @@ namespace PatternGeneratorJRL {
}
- int PatternGeneratorInterfacePrivate::GetWalkMode()
+ int PatternGeneratorInterfacePrivate::GetWalkMode() const
{
return m_StepStackHandler->GetWalkMode();
}
@@ -1556,7 +1556,7 @@ namespace PatternGeneratorJRL {
}
void PatternGeneratorInterfacePrivate::GetLegJointVelocity(MAL_VECTOR( & dqr,double),
- MAL_VECTOR( & dql,double))
+ MAL_VECTOR( & dql,double)) const
{
// TO DO: take the joint specific to the legs
@@ -1679,12 +1679,13 @@ namespace PatternGeneratorJRL {
}
- void PatternGeneratorInterfacePrivate::getWaistPositionMatrix(MAL_S4x4_MATRIX( &lWaistAbsPos,double))
+ void PatternGeneratorInterfacePrivate::getWaistPositionMatrix(MAL_S4x4_MATRIX( &lWaistAbsPos,double)) const
{
lWaistAbsPos = m_WaistAbsPos;
}
- void PatternGeneratorInterfacePrivate::getWaistPositionAndOrientation(double aTQ[7], double &Orientation)
+ //TODO test me
+ void PatternGeneratorInterfacePrivate::getWaistPositionAndOrientation(double aTQ[7], double &Orientation) const
{
// Position
aTQ[0] = MAL_S4x4_MATRIX_ACCESS_I_J(m_WaistAbsPos, 0,3);
@@ -1741,7 +1742,7 @@ namespace PatternGeneratorJRL {
void PatternGeneratorInterfacePrivate::getWaistVelocity(double & dx,
double & dy,
- double & omega)
+ double & omega) const
{
dx = m_AbsLinearVelocity(0);
dy = m_AbsLinearVelocity(1);
@@ -1886,7 +1887,7 @@ namespace PatternGeneratorJRL {
m_ZMPInitialPointSet = true;
}
- void PatternGeneratorInterfacePrivate::getZMPInitialPoint(MAL_S3_VECTOR(&,double) lZMPInitialPoint)
+ void PatternGeneratorInterfacePrivate::getZMPInitialPoint(MAL_S3_VECTOR(&,double) lZMPInitialPoint) const
{
lZMPInitialPoint = m_ZMPInitialPoint;
}
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
index 541bd641..b4e58922 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
+++ b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
@@ -75,8 +75,8 @@ void
OrientationsPreview::preview_orientations(double Time,
const reference_t & Ref,
double StepDuration, const deque<support_state_t> & PrwSupportStates_deq,
- std::deque<FootAbsolutePosition> & LeftFootPositions_deq,
- std::deque<FootAbsolutePosition> & RightFootPositions_deq,
+ const std::deque<FootAbsolutePosition> & LeftFootPositions_deq,
+ const std::deque<FootAbsolutePosition> & RightFootPositions_deq,
std::deque<double> & PreviewedSupportAngles_deq)
{
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
index aacdfd28..2909ed85 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
+++ b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
@@ -71,9 +71,9 @@ namespace PatternGeneratorJRL
/// \param[out] PreviewedSupportAngles
void preview_orientations(double Time, const reference_t & Ref,
double StepDuration, const std::deque<support_state_t> & PrwSupportStates_deq,
- std::deque<FootAbsolutePosition> & LeftFootAbsolutePositions,
- std::deque<FootAbsolutePosition> & RightFootAbsolutePositions,
- std::deque<double> & PreviewedSupportAngles);
+ const std::deque<FootAbsolutePosition> & LeftFootAbsolutePositions,
+ const std::deque<FootAbsolutePosition> & RightFootAbsolutePositions,
+ std::deque<double> & PreviewedSupportAngles);
/// \brief Interpolate previewed orientation of the trunk
///
diff --git a/src/patterngeneratorinterfaceprivate.hh b/src/patterngeneratorinterfaceprivate.hh
index 906502df..a5af2cc1 100644
--- a/src/patterngeneratorinterfaceprivate.hh
+++ b/src/patterngeneratorinterfaceprivate.hh
@@ -248,11 +248,11 @@ namespace PatternGeneratorJRL
void SetCurrentJointValues(MAL_VECTOR( &lCurrentJointValues,double));
/*! \brief Returns the walking mode. */
- int GetWalkMode();
+ int GetWalkMode() const;
/*! \brief Get the leg joint velocity */
void GetLegJointVelocity(MAL_VECTOR( &dqr,double),
- MAL_VECTOR( &dql,double));
+ MAL_VECTOR( &dql,double)) const;
/*! \brief Read a velocity reference. */
void setVelReference(istringstream &strm);
@@ -313,7 +313,7 @@ namespace PatternGeneratorJRL
/*! \brief Get the waist position and orientation as a quaternion,
and the planar X-Y orientation in Orientation. */
- void getWaistPositionAndOrientation(double TQ[7],double &Orientation);
+ void getWaistPositionAndOrientation(double TQ[7],double &Orientation) const;
/*! \brief Set Waist position and Orientation */
void setWaistPositionAndOrientation(double TQ[7]);
@@ -321,10 +321,10 @@ namespace PatternGeneratorJRL
/*! \brief Get Waist velocity */
void getWaistVelocity(double &dx,
double &dy,
- double &omega) ;
+ double &omega) const;
/*! \brief An other method to get the waist position using a matrix. */
- void getWaistPositionMatrix(MAL_S4x4_MATRIX( &lWaistAbsPos,double));
+ void getWaistPositionMatrix(MAL_S4x4_MATRIX( &lWaistAbsPos,double)) const;
/*!@} */
@@ -345,7 +345,7 @@ namespace PatternGeneratorJRL
void setZMPInitialPoint(MAL_S3_VECTOR(&,double) lZMPInitialPoint);
/*! \brief Get the initial ZMP reference point. */
- void getZMPInitialPoint(MAL_S3_VECTOR(&,double) lZMPInitialPoint);
+ void getZMPInitialPoint(MAL_S3_VECTOR(&,double) lZMPInitialPoint) const;
/*! \name System to call a given method based on registration of a method.
@{
--
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