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Fixed const correctness

release/4.3a0
dellaert 2014-12-28 18:23:39 +01:00
parent 2ee192e950
commit 4e9d31d40d
2 changed files with 12 additions and 12 deletions
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12
gtsam/geometry/Point2.h
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@ -165,12 +165,12 @@ public:
/// @{ /// @{
inline void operator += (const Point2& q) {x_+=q.x_;y_+=q.y_;} inline void operator += (const Point2& q) {x_+=q.x_;y_+=q.y_;}
inline void operator *= (double s) {x_*=s;y_*=s;} inline void operator *= (double s) {x_*=s;y_*=s;}
Point2 inverse() { return -(*this);} Point2 inverse() const { return -(*this);}
Point2 compose(const Point2& q) { return (*this)+q;} Point2 compose(const Point2& q) const { return (*this)+q;}
Point2 between(const Point2& q) { return q-(*this);} Point2 between(const Point2& q) const { return q-(*this);}
Vector2 localCoordinates(const Point2& q) { return between(q).vector();} Vector2 localCoordinates(const Point2& q) const { return between(q).vector();}
Point2 retract(const Vector2& v) {return compose(Point2(v));} Point2 retract(const Vector2& v) const { return compose(Point2(v));}
static Vector2 Logmap(const Point2& p) {return p.vector();} static Vector2 Logmap(const Point2& p) { return p.vector();}
static Point2 Expmap(const Vector2& v) { return Point2(v);} static Point2 Expmap(const Vector2& v) { return Point2(v);}
/// @} /// @}

12
gtsam/geometry/Point3.h
View File

@ -164,12 +164,12 @@ namespace gtsam {
/// @name Deprecated /// @name Deprecated
/// @{ /// @{
Point3 inverse() { return -(*this);} Point3 inverse() const { return -(*this);}
Point3 compose(const Point3& q) { return (*this)+q;} Point3 compose(const Point3& q) const { return (*this)+q;}
Point3 between(const Point3& q) { return q-(*this);} Point3 between(const Point3& q) const { return q-(*this);}
Vector3 localCoordinates(const Point3& q) { return between(q).vector();} Vector3 localCoordinates(const Point3& q) const { return between(q).vector();}
Point3 retract(const Vector3& v) {return compose(Point3(v));} Point3 retract(const Vector3& v) const { return compose(Point3(v));}
static Vector3 Logmap(const Point3& p) {return p.vector();} static Vector3 Logmap(const Point3& p) { return p.vector();}
static Point3 Expmap(const Vector3& v) { return Point3(v);} static Point3 Expmap(const Vector3& v) { return Point3(v);}
/// @} /// @}