fix map value types in various places

ethz-asl · Dec 5, 2019 · 2d75b35 · 2d75b35
1 parent 736b1c4
commit 2d75b35
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Showing 6 changed files with 15 additions and 11 deletions.
diff --git a/algorithms/landmark-triangulation/include/landmark-triangulation/pose-interpolator.h b/algorithms/landmark-triangulation/include/landmark-triangulation/pose-interpolator.h
@@ -72,7 +72,8 @@ class PoseInterpolator {
       std::vector<int64_t>* vertex_timestamps_nanoseconds) const;
 
  private:
-  typedef std::pair<int64_t, StateLinearizationPoint> state_buffer_value_type;
+  typedef std::pair<const int64_t, StateLinearizationPoint>
+      state_buffer_value_type;
   typedef common::TemporalBuffer<
       StateLinearizationPoint,
       Eigen::aligned_allocator<state_buffer_value_type>>

diff --git a/algorithms/landmark-triangulation/src/pose-interpolator.cc b/algorithms/landmark-triangulation/src/pose-interpolator.cc
@@ -21,7 +21,7 @@ void PoseInterpolator::buildListOfAllRequiredIMUMeasurements(
   CHECK_GE(end_index, 0);
 
   // First add all imu measurements from this vertex to the buffer.
-  typedef std::pair<int64_t, IMUMeasurement> buffer_value_type;
+  typedef std::pair<const int64_t, IMUMeasurement> buffer_value_type;
   using common::TemporalBuffer;
   typedef TemporalBuffer<
       IMUMeasurement, Eigen::aligned_allocator<buffer_value_type>>

diff --git a/algorithms/simulation/include/mav_planning_utils/path_planning.h b/algorithms/simulation/include/mav_planning_utils/path_planning.h
@@ -60,8 +60,9 @@ class Vertex {
   static const int D = _D;
   typedef Eigen::Matrix<double, D, 1> ConstraintValueT;
   typedef std::pair<int, ConstraintValueT> Constraint;
-  typedef std::map<int, ConstraintValueT, std::less<int>,
-                   Eigen::aligned_allocator<std::pair<int, ConstraintValueT> > >
+  typedef std::map<
+      int, ConstraintValueT, std::less<int>,
+      Eigen::aligned_allocator<std::pair<const int, ConstraintValueT> > >
       Constraints;
 
   double time_to_next;
@@ -482,7 +483,7 @@ class Path4D {
   /// initializes the internal segments with the arguments, so that sample() can
   /// be used
   Path4D(
-      const SegmentVector& sx, const SegmentVector& sy, SegmentVector& sz,
+      const SegmentVector& sx, const SegmentVector& sy, const SegmentVector& sz,
       const SegmentVector& syaw)
       : sx_(sx), sy_(sy), sz_(sz), syaw_(syaw) {
     assert(sx_.size() == sy_.size());
@@ -662,9 +663,10 @@ class Path4D {
    */
   template <int n_p, int n_y>
   void sample(
-      typename Motion4D<n_p, n_y>::Vector& result, double dt,
+      typename Motion4D<n_p, n_y>::Vector* result, double dt,
       Eigen::VectorXd* timestamps_seconds) const {
     CHECK_NOTNULL(timestamps_seconds);
+    CHECK_NOTNULL(result);
     double path_time = 0;
 
     for (typename SegmentVector::const_iterator it = sx_.begin();
@@ -675,14 +677,14 @@ class Path4D {
     VLOG(3) << "path time: " << path_time;
     int n_samples = (path_time + dt * 0.5) / dt + 1;
 
-    result.resize(n_samples);
+    result->resize(n_samples);
     timestamps_seconds->resize(n_samples);
 
     VLOG(3) << "num samples: " << n_samples;
 
     double t = 0;
     for (int i = 0; i < n_samples; ++i) {
-      Motion4D<n_p, n_y>& sample = result[i];
+      Motion4D<n_p, n_y>& sample = result->at(i);
       samplePath(sample.x, sx_, t);
       samplePath(sample.y, sy_, t);
       samplePath(sample.z, sz_, t);

diff --git a/algorithms/simulation/src/generic-path-generator.cc b/algorithms/simulation/src/generic-path-generator.cc
@@ -93,7 +93,7 @@ void GenericPathGenerator::generatePath() {
 
   // Downsampling of the generated trajectory by the sampling time.
   path.sample<5, 2>(
-      path_data_, settings_.sampling_time_second, &timestamps_seconds_);
+      &path_data_, settings_.sampling_time_second, &timestamps_seconds_);
   // This is randomized.
   this->motionVectorToImuData(settings_.imu_noise_bias_seed);
   is_path_generated_ = true;

diff --git a/common/maplab-common/include/maplab-common/temporal-buffer.h b/common/maplab-common/include/maplab-common/temporal-buffer.h
@@ -13,7 +13,8 @@ namespace common {
 
 template <
     typename ValueType,
-    typename AllocatorType = std::allocator<std::pair<int64_t, ValueType> > >
+    typename AllocatorType =
+        std::allocator<std::pair<const int64_t, ValueType> > >
 class TemporalBuffer {
  public:
   typedef std::map<int64_t, ValueType, std::less<int64_t>, AllocatorType>

diff --git a/common/vio-common/include/vio-common/imu-measurements-buffer.h b/common/vio-common/include/vio-common/imu-measurements-buffer.h
@@ -107,7 +107,7 @@ class ImuMeasurementBuffer {
       Eigen::Matrix<int64_t, 1, Eigen::Dynamic>* imu_timestamps,
       Eigen::Matrix<double, 6, Eigen::Dynamic>* imu_measurements) const;
 
-  typedef std::pair<int64_t, vio::ImuMeasurement> BufferElement;
+  typedef std::pair<const int64_t, vio::ImuMeasurement> BufferElement;
   typedef Eigen::aligned_allocator<BufferElement> BufferAllocator;
   typedef common::TemporalBuffer<vio::ImuMeasurement, BufferAllocator> Buffer;