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add getIncrementCovariance & rm return by ref getIncrement

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Jeremie Deray
2017-08-12 18:26:39 +02:00
parent 07c9a7b46c
commit 737f44b0db
2 changed files with 5 additions and 5 deletions
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3
include/rf2o_laser_odometry/CLaserOdometry2D.h
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@@ -67,9 +67,10 @@ public:
void setLaserPose(const mrpt::poses::CPose3D& laser_pose); void setLaserPose(const mrpt::poses::CPose3D& laser_pose);
mrpt::poses::CPose3D& getIncrement();
const mrpt::poses::CPose3D& getIncrement() const; const mrpt::poses::CPose3D& getIncrement() const;
const Eigen::Matrix<float, 3, 3>& getIncrementCovariance() const;
mrpt::poses::CPose3D& getPose(); mrpt::poses::CPose3D& getPose();
const mrpt::poses::CPose3D& getPose() const; const mrpt::poses::CPose3D& getPose() const;

7
src/CLaserOdometry2D.cpp
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@@ -158,15 +158,14 @@ void CLaserOdometry2D::Init(const sensor_msgs::LaserScan& scan,
last_odom_time = ros::Time::now(); last_odom_time = ros::Time::now();
} }
const mrpt::poses::CPose3D& CLaserOdometry2D::getIncrement() const
mrpt::poses::CPose3D& CLaserOdometry2D::getIncrement()
{ {
return last_increment; return last_increment;
} }
const mrpt::poses::CPose3D& CLaserOdometry2D::getIncrement() const const Eigen::Matrix<float, 3, 3>& CLaserOdometry2D::getIncrementCovariance() const
{ {
return last_increment; return cov_odo;
} }
mrpt::poses::CPose3D& CLaserOdometry2D::getPose() mrpt::poses::CPose3D& CLaserOdometry2D::getPose()