From fb5334d54271259eba40949865ff28c783d94fbb Mon Sep 17 00:00:00 2001
From: Jeremie Deray <jeremie.deray@pal-robotics.com>
Date: Wed, 16 Aug 2017 10:09:20 +0200
Subject: [PATCH] extend rf2o namespace to class

---
 include/rf2o_laser_odometry/CLaserOdometry2D.h | 4 +++-
 src/CLaserOdometry2D.cpp                       | 4 ++++
 src/CLaserOdometry2DNode.cpp                   | 8 ++++++--
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/include/rf2o_laser_odometry/CLaserOdometry2D.h b/include/rf2o_laser_odometry/CLaserOdometry2D.h
index 1176eef..04fb276 100644
--- a/include/rf2o_laser_odometry/CLaserOdometry2D.h
+++ b/include/rf2o_laser_odometry/CLaserOdometry2D.h
@@ -34,6 +34,7 @@
 #include <unsupported/Eigen/MatrixFunctions>
 
 namespace rf2o {
+
 template <typename T>
 inline int sign(T x) { return x<0 ? -1:1; }
 
@@ -61,7 +62,6 @@ inline Eigen::Matrix<T, 3, 3> matrixYaw(const T yaw)
 {
   return matrixRollPitchYaw<T>(0, 0, yaw);
 }
-} // namespace rf2o
 
 class CLaserOdometry2D
 {
@@ -175,4 +175,6 @@ protected:
   void Reset(const Pose3d& ini_pose/*, CObservation2DRangeScan scan*/);
 };
 
+} /* namespace rf2o */
+
 #endif // CLaserOdometry2D_H
diff --git a/src/CLaserOdometry2D.cpp b/src/CLaserOdometry2D.cpp
index 294c3bd..5f9be46 100644
--- a/src/CLaserOdometry2D.cpp
+++ b/src/CLaserOdometry2D.cpp
@@ -17,6 +17,8 @@
 
 #include "rf2o_laser_odometry/CLaserOdometry2D.h"
 
+namespace rf2o {
+
 // --------------------------------------------
 // CLaserOdometry2D
 //---------------------------------------------
@@ -951,3 +953,5 @@ void CLaserOdometry2D::PoseUpdate()
     ang_speed = sum2 / last_m_ang_speeds.size();
     */
 }
+
+} /* namespace rf2o */
diff --git a/src/CLaserOdometry2DNode.cpp b/src/CLaserOdometry2DNode.cpp
index 4f2d67b..942c000 100644
--- a/src/CLaserOdometry2DNode.cpp
+++ b/src/CLaserOdometry2DNode.cpp
@@ -20,6 +20,8 @@
 #include <tf/transform_broadcaster.h>
 #include <tf/transform_listener.h>
 
+namespace rf2o {
+
 class CLaserOdometry2DNode : CLaserOdometry2D
 {
 public:
@@ -249,6 +251,8 @@ void CLaserOdometry2DNode::publish()
   odom_pub.publish(odom);
 }
 
+} /* namespace rf2o */
+
 //-----------------------------------------------------------------------------------
 //                                   MAIN
 //-----------------------------------------------------------------------------------
@@ -256,7 +260,7 @@ int main(int argc, char** argv)
 {
   ros::init(argc, argv, "RF2O_LaserOdom");
 
-  CLaserOdometry2DNode myLaserOdomNode;
+  rf2o::CLaserOdometry2DNode myLaserOdomNode;
 
   ros::TimerOptions timer_opt;
   timer_opt.oneshot   = false;
@@ -264,7 +268,7 @@ int main(int argc, char** argv)
   timer_opt.callback_queue = ros::getGlobalCallbackQueue();
   timer_opt.tracked_object = ros::VoidConstPtr();
 
-  timer_opt.callback = boost::bind(&CLaserOdometry2DNode::process, &myLaserOdomNode, _1);
+  timer_opt.callback = boost::bind(&rf2o::CLaserOdometry2DNode::process, &myLaserOdomNode, _1);
   timer_opt.period   = ros::Rate(myLaserOdomNode.freq).expectedCycleTime();
 
   ros::Timer rf2o_timer = ros::NodeHandle("~").createTimer(timer_opt);