From 5e3f84e665d12ca14f92f3d2077dcf6a0c5a5d72 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 2 Jun 2016 18:21:57 +0200
Subject: [PATCH] Fix broken const-correctness
---
include/hpp/manipulation/connected-component.hh | 3 ++-
src/connected-component.cc | 15 +++++++--------
src/roadmap.cc | 2 +-
3 files changed, 10 insertions(+), 10 deletions(-)
diff --git a/include/hpp/manipulation/connected-component.hh b/include/hpp/manipulation/connected-component.hh
index 4577c70b..21251ab1 100644
--- a/include/hpp/manipulation/connected-component.hh
+++ b/include/hpp/manipulation/connected-component.hh
@@ -49,12 +49,13 @@ class HPP_MANIPULATION_DLLAPI ConnectedComponent : public core::ConnectedCompone
/// \param roadmap node to be added
void addNode (const core::NodePtr_t& node);
- RoadmapNodes_t getRoadmapNodes (const graph::NodePtr_t graphNode);
+ const RoadmapNodes_t& getRoadmapNodes (const graph::NodePtr_t graphNode) const;
protected:
private:
GraphNodes_t graphNodeMap_;
RoadmapPtr_t roadmap_;
+ static RoadmapNodes_t empty_;
}; // class ConnectedComponent
} // namespace manipulation
} // namespace hpp
diff --git a/src/connected-component.cc b/src/connected-component.cc
index 101f2c34..e47917ca 100644
--- a/src/connected-component.cc
+++ b/src/connected-component.cc
@@ -23,6 +23,7 @@
namespace hpp {
namespace manipulation {
+ RoadmapNodes_t ConnectedComponent::empty_ = RoadmapNodes_t();
ConnectedComponentPtr_t ConnectedComponent::create(const RoadmapWkPtr_t& roadmap)
{
@@ -74,17 +75,15 @@ namespace hpp {
}
- RoadmapNodes_t ConnectedComponent::getRoadmapNodes (const graph::NodePtr_t graphNode)
+ const RoadmapNodes_t& ConnectedComponent::getRoadmapNodes (
+ const graph::NodePtr_t graphNode) const
{
- RoadmapNodes_t res;
- GraphNodes_t::iterator mapIt = graphNodeMap_.find(graphNode);
- if (mapIt != graphNodeMap_.end()) {
- res = mapIt->second;
- }
- return res;
+ GraphNodes_t::const_iterator mapIt = graphNodeMap_.find(graphNode);
+ if (mapIt != graphNodeMap_.end())
+ return mapIt->second;
+ return empty_;
}
-
} // namespace manipulation
} // namespace hpp
diff --git a/src/roadmap.cc b/src/roadmap.cc
index 746733c4..009a7dbd 100644
--- a/src/roadmap.cc
+++ b/src/roadmap.cc
@@ -83,7 +83,7 @@ namespace hpp {
{
core::NodePtr_t result = NULL;
minDistance = std::numeric_limits <value_type>::infinity ();
- RoadmapNodes_t roadmapNodes = connectedComponent->getRoadmapNodes (node);
+ const RoadmapNodes_t& roadmapNodes = connectedComponent->getRoadmapNodes (node);
for (RoadmapNodes_t::const_iterator itNode = roadmapNodes.begin ();
itNode != roadmapNodes.end (); ++itNode) {
value_type d = (*distance()) (*(*itNode)->configuration (),
--
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