Making API consistent for:

1. DiffDriveOdometry.cc 2. DiffDriveOdometry.hh fix gazebosim#301 Signed-off-by: Akshat Pandya <[email protected]>
akshatpandya · Dec 24, 2021 · 7976b86 · 7976b86
1 parent 2a66030
commit 7976b86
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/include/ignition/math/DiffDriveOdometry.hh b/include/ignition/math/DiffDriveOdometry.hh
@@ -129,8 +129,8 @@ namespace ignition
       /// \param[in] _wheelSeparation Distance between left and right wheels.
       /// \param[in] _leftWheelRadius Radius of the left wheel.
       /// \param[in] _rightWheelRadius Radius of the right wheel.
-      public: void SetWheelParams(double _wheelSeparation,
-                      double _leftWheelRadius, double _rightWheelRadius);
+      public: void SetWheelParams(const double _wheelSeparation,
+                      const double _leftWheelRadius, const double _rightWheelRadius);
 
       /// \brief Set the velocity rolling window size.
       /// \param[in] _size The Velocity rolling window size.

diff --git a/src/DiffDriveOdometry.cc b/src/DiffDriveOdometry.cc
@@ -29,13 +29,13 @@ class ignition::math::DiffDriveOdometryPrivate
   /// Runge-Kutta.
   /// \param[in] _linear Linear velocity.
   /// \param[in] _angular Angular velocity.
-  public: void IntegrateRungeKutta2(double _linear, double _angular);
+  public: void IntegrateRungeKutta2(const double _linear, const double _angular);
 
   /// \brief Integrates the velocities (linear and angular) using exact
   /// method.
   /// \param[in] _linear Linear velocity.
   /// \param[in] _angular Angular velocity.
-  public: void IntegrateExact(double _linear, double _angular);
+  public: void IntegrateExact(const double _linear, const double _angular);
 
   /// \brief Current timestamp.
   public: clock::time_point lastUpdateTime;
@@ -165,8 +165,8 @@ bool DiffDriveOdometry::Update(const Angle &_leftPos, const Angle &_rightPos,
 }
 
 //////////////////////////////////////////////////
-void DiffDriveOdometry::SetWheelParams(double _wheelSeparation,
-    double _leftWheelRadius, double _rightWheelRadius)
+void DiffDriveOdometry::SetWheelParams(const double _wheelSeparation,
+    const double _leftWheelRadius, const double _rightWheelRadius)
 {
   this->dataPtr->wheelSeparation = _wheelSeparation;
   this->dataPtr->leftWheelRadius = _leftWheelRadius;
@@ -212,7 +212,7 @@ const Angle &DiffDriveOdometry::AngularVelocity() const
 
 //////////////////////////////////////////////////
 void DiffDriveOdometryPrivate::IntegrateRungeKutta2(
-    double _linear, double _angular)
+    const double _linear, const double _angular)
 {
   const double direction = *this->heading + _angular * 0.5;
 
@@ -223,7 +223,7 @@ void DiffDriveOdometryPrivate::IntegrateRungeKutta2(
 }
 
 //////////////////////////////////////////////////
-void DiffDriveOdometryPrivate::IntegrateExact(double _linear, double _angular)
+void DiffDriveOdometryPrivate::IntegrateExact(const double _linear, const double _angular)
 {
   if (std::fabs(_angular) < 1e-6)
   {