Make appropriate pose methods const

5150VEX · Nov 19, 2023 · dfbd688 · dfbd688
1 parent eb3e37b
commit dfbd688
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Showing 2 changed files with 22 additions and 22 deletions.
diff --git a/include/lemlib/pose.hpp b/include/lemlib/pose.hpp
@@ -35,7 +35,7 @@ class Pose {
          * @param other other pose
          * @return Pose
          */
-        Pose operator+(const Pose& other);
+        Pose operator+(const Pose& other) const;
         /**
          * @brief Set the value of this pose to its value + the value of another pose
          *
@@ -48,7 +48,7 @@ class Pose {
          * @param other other pose
          * @return Pose
          */
-        Pose operator-(const Pose& other);
+        Pose operator-(const Pose& other) const;
         /**
          * @brief Set the value of this pose to its value - the value of another pose
          *
@@ -61,57 +61,57 @@ class Pose {
          * @param other other pose
          * @return Pose
          */
-        float operator*(const Pose& other);
+        float operator*(const Pose& other) const;
         /**
          * @brief Multiply a pose by a float
          *
          * @param other float
          * @return Pose
          */
-        Pose operator*(const float& other);
+        Pose operator*(const float& other) const;
         /**
          * @brief Divide a pose by a float
          *
          * @param other float
          * @return Pose
          */
-        Pose operator/(const float& other);
+        Pose operator/(const float& other) const;
         /**
          * @brief Check if two poses are equal
          *
          * @param other the other pose
          * @return bool
          */
-        bool operator==(const Pose& other);
+        bool operator==(const Pose& other) const;
         /**
          * @brief Check if two poses are not equal
          *
          * @param other the other pose
          * @return bool
          */
-        bool operator!=(const Pose& other);
+        bool operator!=(const Pose& other) const;
         /**
          * @brief Linearly interpolate between two poses
          *
          * @param other the other pose
          * @param t t value
          * @return Pose
          */
-        Pose lerp(Pose other, float t);
+        Pose lerp(const Pose other, float t) const;
         /**
          * @brief Get the distance between two poses
          *
          * @param other the other pose
          * @return float
          */
-        float distance(Pose other);
+        float distance(const Pose other) const;
         /**
          * @brief Get the angle between two poses
          *
          * @param other the other pose
          * @return float in radians
          */
-        float angle(Pose other);
+        float angle(const Pose other) const;
         /**
          * @brief Rotate a pose by an angle
          *
@@ -120,7 +120,7 @@ class Pose {
          * @param angle angle in radians
          * @return Pose
          */
-        Pose rotate(float angle);
+        Pose rotate(float angle) const;
 };
 
 /**

diff --git a/src/lemlib/pose.cpp b/src/lemlib/pose.cpp
@@ -35,7 +35,7 @@ Pose::Pose(float x, float y, float theta)
  * @param other other pose
  * @return Pose
  */
-Pose Pose::operator+(const Pose& other) { return Pose(x + other.x, y + other.y, theta); }
+Pose Pose::operator+(const Pose& other) const { return Pose(x + other.x, y + other.y, theta); }
 
 /**
  * @brief Set the value of this pose to its value + the value of another pose
@@ -54,7 +54,7 @@ void Pose::operator+=(const Pose& other) {
  * @param other other pose
  * @return Pose
  */
-Pose Pose::operator-(const Pose& other) { return Pose(x - other.x, y - other.y, theta); }
+Pose Pose::operator-(const Pose& other) const  { return Pose(x - other.x, y - other.y, theta); }
 
 /**
  * @brief Set the value of this pose to its value - the value of another pose
@@ -73,39 +73,39 @@ void Pose::operator-=(const Pose& other) {
  * @param other other pose
  * @return Pose
  */
-float Pose::operator*(const Pose& other) { return x * other.x + y * other.y; }
+float Pose::operator*(const Pose& other) const { return x * other.x + y * other.y; }
 
 /**
  * @brief Multiply a pose by a float
  *
  * @param other float
  * @return Pose
  */
-Pose Pose::operator*(const float& other) { return Pose(x * other, y * other, theta); }
+Pose Pose::operator*(const float& other)const  { return Pose(x * other, y * other, theta); }
 
 /**
  * @brief Divide a pose by a float
  *
  * @param other float
  * @return Pose
  */
-Pose Pose::operator/(const float& other) { return Pose(x / other, y / other, theta); }
+Pose Pose::operator/(const float& other) const { return Pose(x / other, y / other, theta); }
 
 /**
  * @brief Check if two poses are equal
  *
  * @param other the other pose
  * @return bool
  */
-bool Pose::operator==(const Pose& other) { return x == other.x && y == other.y && theta == other.theta; }
+bool Pose::operator==(const Pose& other) const { return x == other.x && y == other.y && theta == other.theta; }
 
 /**
  * @brief Check if two poses are not equal
  *
  * @param other the other pose
  * @return bool
  */
-bool Pose::operator!=(const Pose& other) { return x != other.x || y != other.y || theta != other.theta; }
+bool Pose::operator!=(const Pose& other) const { return x != other.x || y != other.y || theta != other.theta; }
 
 /**
  * @brief Linearly interpolate between two poses
@@ -114,31 +114,31 @@ bool Pose::operator!=(const Pose& other) { return x != other.x || y != other.y |
  * @param t t value
  * @return Pose
  */
-Pose Pose::lerp(Pose other, float t) { return Pose(x + (other.x - x) * t, y + (other.y - y) * t, theta); }
+Pose Pose::lerp(Pose other, float t) const { return Pose(x + (other.x - x) * t, y + (other.y - y) * t, theta); }
 
 /**
  * @brief Get the distance between two poses
  *
  * @param other the other pose
  * @return float
  */
-float Pose::distance(Pose other) { return std::hypot(x - other.x, y - other.y); }
+float Pose::distance(Pose other) const { return std::hypot(x - other.x, y - other.y); }
 
 /**
  * @brief Get the angle between two poses
  *
  * @param other the other pose
  * @return float in radians
  */
-float Pose::angle(Pose other) { return std::atan2(other.y - y, other.x - x); }
+float Pose::angle(Pose other) const { return std::atan2(other.y - y, other.x - x); }
 
 /**
  * @brief Rotate a pose by an angle
  *
  * @param angle angle in radians
  * @return Pose
  */
-Pose Pose::rotate(float angle) {
+Pose Pose::rotate(float angle) const  {
     const float cosAngle = std::cos(angle);
     const float sinAngle = std::sin(angle);