Made changes as per comments

moveit · Oct 17, 2023 · db0b936 · db0b936
1 parent 9937ad9
commit db0b936
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Showing 8 changed files with 20 additions and 21 deletions.
diff --git a/...tection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h b/...tection_bullet/include/moveit/collision_detection_bullet/bullet_integration/basic_types.h
@@ -59,7 +59,7 @@ struct ContactTestData
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  ContactTestData(const std::vector<std::string>& active, double contact_distance,
+  ContactTestData(const std::vector<std::string>& active, const double& contact_distance,
                   collision_detection::CollisionResult& res, const collision_detection::CollisionRequest& req)
     : active(active), contact_distance(contact_distance), res(res), req(req), done(false), pair_done(false)
   {
@@ -68,7 +68,7 @@ struct ContactTestData
   const std::vector<std::string>& active;
 
   /** \brief If after a positive broadphase check the distance is below this threshold, a contact is added. */
-  double contact_distance;
+  const double& contact_distance;
 
   collision_detection::CollisionResult& res;
   const collision_detection::CollisionRequest& req;

diff --git a/moveit_core/kinematics_base/src/kinematics_base.cpp b/moveit_core/kinematics_base/src/kinematics_base.cpp
@@ -95,7 +95,7 @@ bool KinematicsBase::initialize(const rclcpp::Node::SharedPtr& /*node*/,
 
 bool KinematicsBase::setRedundantJoints(const std::vector<unsigned int>& redundant_joint_indices)
 {
-  for (const unsigned int& redundant_joint_index : redundant_joint_indices)
+  for (unsigned int redundant_joint_index : redundant_joint_indices)
   {
     if (redundant_joint_index >= getJointNames().size())
     {

diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h
@@ -64,9 +64,9 @@ std::size_t trajectoryWaypointCount(const moveit_msgs::msg::RobotTrajectory& tra
  * \param [in] min_angle_change The minimum angle change to use for time parameterization (default: 0.001).
  * \return True if time parameterization was successful, false otherwise.
  */
-bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory, const double& velocity_scaling_factor,
-                                   const double& acceleration_scaling_factor, const double path_tolerance = 0.1,
-                                   const double resample_dt = 0.1, const double min_angle_change = 0.001);
+bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor,
+                                   double acceleration_scaling_factor, double path_tolerance = 0.1,
+                                   double resample_dt = 0.1, double min_angle_change = 0.001);
 /**
  * \brief Applies Ruckig smoothing to a robot trajectory.
  * \param [in,out] trajectory The robot trajectory to be smoothed.
@@ -76,7 +76,7 @@ bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory
  * \param [in] overshoot_threshold The maximum allowed overshoot during smoothing (default: 0.01).
  * \return True if smoothing was successful, false otherwise.
  */
-bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, const double& velocity_scaling_factor,
-                          const double& acceleration_scaling_factor, const bool mitigate_overshoot = false,
-                          const double overshoot_threshold = 0.01);
+bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor,
+                          double acceleration_scaling_factor, bool mitigate_overshoot = false,
+                          double overshoot_threshold = 0.01);
 }  // namespace trajectory_processing
diff --git a/moveit_core/trajectory_processing/src/trajectory_tools.cpp b/moveit_core/trajectory_processing/src/trajectory_tools.cpp
@@ -48,16 +48,15 @@ std::size_t trajectoryWaypointCount(const moveit_msgs::msg::RobotTrajectory& tra
 {
   return std::max(trajectory.joint_trajectory.points.size(), trajectory.multi_dof_joint_trajectory.points.size());
 }
-bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory, const double& velocity_scaling_factor,
-                                   const double& acceleration_scaling_factor, const double path_tolerance,
-                                   const double resample_dt, const double min_angle_change)
+bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor,
+                                   double acceleration_scaling_factor, double path_tolerance, double resample_dt,
+                                   double min_angle_change)
 {
   TimeOptimalTrajectoryGeneration totg(path_tolerance, resample_dt, min_angle_change);
   return totg.computeTimeStamps(trajectory, velocity_scaling_factor, acceleration_scaling_factor);
 }
-bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, const double& velocity_scaling_factor,
-                          const double& acceleration_scaling_factor, const bool mitigate_overshoot,
-                          const double overshoot_threshold)
+bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor,
+                          double acceleration_scaling_factor, bool mitigate_overshoot, double overshoot_threshold)
 {
   RuckigSmoothing time_param;
   return time_param.applySmoothing(trajectory, velocity_scaling_factor, acceleration_scaling_factor, mitigate_overshoot,

diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
@@ -154,7 +154,7 @@ bool SrvKinematicsPlugin::setRedundantJoints(const std::vector<unsigned int>& re
 
 bool SrvKinematicsPlugin::isRedundantJoint(unsigned int index) const
 {
-  for (const unsigned int& redundant_joint_indice : redundant_joint_indices_)
+  for (unsigned int redundant_joint_indice : redundant_joint_indices_)
   {
     if (redundant_joint_indice == index)
       return true;

diff --git a/moveit_planners/stomp/include/stomp_moveit/trajectory_visualization.hpp b/moveit_planners/stomp/include/stomp_moveit/trajectory_visualization.hpp
@@ -56,7 +56,7 @@ namespace visualization
 
 namespace
 {
-const auto GREEN = [](const double& a) {
+const auto GREEN = [](double a) {
   std_msgs::msg::ColorRGBA color;
   color.r = 0.1;
   color.g = 0.8;

diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
@@ -150,14 +150,14 @@ class GLRenderer
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \return distance of near clipping plane in meters
    */
-  double getNearClippingDistance() const;
+  const double& getNearClippingDistance() const;
 
   /**
    * \brief returns the distance of the far clipping plane in meters
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \return distance of the far clipping plane in meters
    */
-  double getFarClippingDistance() const;
+  const double& getFarClippingDistance() const;
 
   /**
    * \brief returns the width of the frame buffer objectsin pixels

diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
@@ -246,12 +246,12 @@ const GLuint& mesh_filter::GLRenderer::getProgramID() const
   return program_;
 }
 
-double mesh_filter::GLRenderer::getNearClippingDistance() const
+const double& mesh_filter::GLRenderer::getNearClippingDistance() const
 {
   return near_;
 }
 
-double mesh_filter::GLRenderer::getFarClippingDistance() const
+const double& mesh_filter::GLRenderer::getFarClippingDistance() const
 {
   return far_;
 }