Corrections bulk after first review

src/multibody/parser/urdf-with-geometry.hpp

@@ -56,7 +56,7 @@ namespace se3
      *
      * @return     The mesh converted as a fcl::CollisionObject
      */
-    inline fcl::CollisionObject retrieveCollisionGeometry (const ::urdf::LinkConstPtr & link, std::string meshRootDir);
+    inline fcl::CollisionObject retrieveCollisionGeometry (const ::urdf::LinkConstPtr & link, const std::string & meshRootDir);
 
     
     /**
@@ -68,7 +68,7 @@ namespace se3
      * @param      model_geom   The Geometry Model where the Collision Objects must be added
      * @param[in]  meshRootDir  Root path to the directory where meshes are located
      */
-    inline void parseTreeForGeom( ::urdf::LinkConstPtr link, Model & model,GeometryModel & model_geom, std::string meshRootDir) throw (std::invalid_argument);
+    inline void parseTreeForGeom( ::urdf::LinkConstPtr link, Model & model,GeometryModel & model_geom, const std::string & meshRootDir) throw (std::invalid_argument);
 
 
 

src/multibody/parser/urdf-with-geometry.hxx

@@ -39,7 +39,7 @@ namespace se3
   {
 
 
-    inline fcl::CollisionObject retrieveCollisionGeometry (const ::urdf::LinkConstPtr & link, std::string meshRootDir)
+    inline fcl::CollisionObject retrieveCollisionGeometry (const ::urdf::LinkConstPtr & link, const std::string & meshRootDir)
     {
       boost::shared_ptr < ::urdf::Collision> collision = link->collision;
       boost::shared_ptr < fcl::CollisionGeometry > geometry;
@@ -71,7 +71,7 @@ namespace se3
     }
 
 
-    inline void parseTreeForGeom( ::urdf::LinkConstPtr link, Model & model,GeometryModel & model_geom, std::string meshRootDir) throw (std::invalid_argument)
+    inline void parseTreeForGeom( ::urdf::LinkConstPtr link, Model & model,GeometryModel & model_geom, const std::string & meshRootDir) throw (std::invalid_argument)
     {
 
       ::urdf::JointConstPtr joint = link->parent_joint;

src/spatial/inertia.hpp

@@ -55,7 +55,7 @@ namespace se3
 
 
     Derived_t& operator= (const Derived_t& clone){return derived().__equl__(clone);}
-    Derived_t& operator== (const Derived_t& other){return derived().isEqual(other);}
+    bool operator== (const Derived_t& other) const {return derived().isEqual(other);}
     Derived_t& operator+= (const Derived_t & Yb) { return derived().__pequ__(Yb); }
     Derived_t operator+(const Derived_t & Yb) const { return derived().__plus__(Yb); }
     Force operator*(const Motion & v) const    { return derived().__mult__(v); }
@@ -204,7 +204,7 @@ namespace se3
     }
 
     // Requiered by std::vector boost::python bindings. 
-    bool isEqual( const InertiaTpl& Y2 ) 
+    bool isEqual( const InertiaTpl& Y2 ) const
     { 
       return (m==Y2.m) && (c==Y2.c) && (I==Y2.I);
     }

src/spatial/se3.hpp

@@ -104,12 +104,12 @@ namespace se3
       Derived_t actInv(const Derived_t& m2) const { return derived().actInv_impl(m2); }
 
 
-      bool operator == (Derived_t other) const
+      bool operator == (const Derived_t & other) const
       {
         return derived().__equal__(other);
       }
 
-      bool isApprox (Derived_t other) const
+      bool isApprox (const Derived_t & other) const
       {
         return derived().isApprox_impl(other);
       }