diff options
Diffstat (limited to 'intern/itasc')
| -rw-r--r-- | intern/itasc/FixedObject.hpp | 2 | ||||
| -rw-r--r-- | intern/itasc/MovingFrame.cpp | 2 | ||||
| -rw-r--r-- | intern/itasc/MovingFrame.hpp | 9 | ||||
| -rw-r--r-- | intern/itasc/Scene.cpp | 2 | ||||
| -rw-r--r-- | intern/itasc/Scene.hpp | 2 | ||||
| -rw-r--r-- | intern/itasc/UncontrolledObject.hpp | 2 | ||||
| -rw-r--r-- | intern/itasc/WorldObject.hpp | 2 |
7 files changed, 13 insertions, 8 deletions
diff --git a/intern/itasc/FixedObject.hpp b/intern/itasc/FixedObject.hpp index 02c1804073c..e768157ed2b 100644 --- a/intern/itasc/FixedObject.hpp +++ b/intern/itasc/FixedObject.hpp @@ -21,7 +21,7 @@ public: int addFrame(const std::string& name, const Frame& frame); - virtual void updateCoordinates(struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {}; + virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {}; virtual int addEndEffector(const std::string& name); virtual bool finalize(); virtual const Frame& getPose(const unsigned int frameIndex); diff --git a/intern/itasc/MovingFrame.cpp b/intern/itasc/MovingFrame.cpp index b1815ddd0de..83e15bb59d9 100644 --- a/intern/itasc/MovingFrame.cpp +++ b/intern/itasc/MovingFrame.cpp @@ -90,7 +90,7 @@ bool MovingFrame::setCallback(MovingFrameCallback _function, void* _param) return true; } -void MovingFrame::updateCoordinates(struct EvaluationContext *eval_ctx, const Timestamp& timestamp) +void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) { // don't compute the velocity during substepping, it is assumed constant. if (!timestamp.substep) { diff --git a/intern/itasc/MovingFrame.hpp b/intern/itasc/MovingFrame.hpp index 89519832840..719e06b4bf7 100644 --- a/intern/itasc/MovingFrame.hpp +++ b/intern/itasc/MovingFrame.hpp @@ -15,7 +15,12 @@ struct EvaluationContext; namespace iTaSC{ -typedef bool (*MovingFrameCallback)(struct EvaluationContext *eval_ctx, const Timestamp& timestamp, const Frame& _current, Frame& _next, void *param); +typedef bool (*MovingFrameCallback)( + const struct EvaluationContext *eval_ctx, + const Timestamp& timestamp, + const Frame& _current, + Frame& _next, + void *param); class MovingFrame: public UncontrolledObject { public: @@ -25,7 +30,7 @@ public: bool setFrame(const Frame& frame); bool setCallback(MovingFrameCallback _function, void* _param); - virtual void updateCoordinates(struct EvaluationContext *eval_ctx, const Timestamp& timestamp); + virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp); virtual void updateKinematics(const Timestamp& timestamp); virtual void pushCache(const Timestamp& timestamp); virtual void initCache(Cache *_cache); diff --git a/intern/itasc/Scene.cpp b/intern/itasc/Scene.cpp index fd8b006d19c..93f316783ba 100644 --- a/intern/itasc/Scene.cpp +++ b/intern/itasc/Scene.cpp @@ -257,7 +257,7 @@ bool Scene::getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Fram return true; } -bool Scene::update(struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate) +bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate) { // we must have valid timestep and timestamp if (timestamp < KDL::epsilon || timestep < 0.0) diff --git a/intern/itasc/Scene.hpp b/intern/itasc/Scene.hpp index 0039be07584..ebbec561a6e 100644 --- a/intern/itasc/Scene.hpp +++ b/intern/itasc/Scene.hpp @@ -39,7 +39,7 @@ public: bool addSolver(Solver* _solver); bool addCache(Cache* _cache); bool initialize(); - bool update(struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true); + bool update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true); bool setParam(SceneParam paramId, double value); EIGEN_MAKE_ALIGNED_OPERATOR_NEW diff --git a/intern/itasc/UncontrolledObject.hpp b/intern/itasc/UncontrolledObject.hpp index 889bc742c6d..d932974a24d 100644 --- a/intern/itasc/UncontrolledObject.hpp +++ b/intern/itasc/UncontrolledObject.hpp @@ -29,7 +29,7 @@ public: virtual void initialize(unsigned int _nu, unsigned int _nf); virtual const e_matrix& getJu(unsigned int frameIndex) const; virtual const e_vector& getXudot() const {return m_xudot;} - virtual void updateCoordinates(struct EvaluationContext *eval_ctx, const Timestamp& timestamp)=0; + virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp)=0; virtual const unsigned int getNrOfCoordinates(){return m_nu;}; virtual const unsigned int getNrOfFrames(){return m_nf;}; diff --git a/intern/itasc/WorldObject.hpp b/intern/itasc/WorldObject.hpp index b992445ab10..9876090e128 100644 --- a/intern/itasc/WorldObject.hpp +++ b/intern/itasc/WorldObject.hpp @@ -16,7 +16,7 @@ public: WorldObject(); virtual ~WorldObject(); - virtual void updateCoordinates(struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {}; + virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {}; virtual void updateKinematics(const Timestamp& timestamp) {}; virtual void pushCache(const Timestamp& timestamp) {}; virtual void initCache(Cache *_cache) {}; |