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Fix const correctness #521

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merged 2 commits into from
May 28, 2018
Merged

Fix const correctness #521

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898fd33
Fixes after const correction in IPositionDirectRaw
Nicogene May 25, 2018
efedbcd
Increase Yarp version required
Nicogene May 25, 2018
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -22,7 +22,7 @@ project(iCub)

#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")

find_package(YARP 2.3.73.3 REQUIRED)
find_package(YARP 2.3.73.4 REQUIRED)
message(STATUS "YARP is version: ${YARP_VERSION}")

if (YARP_HAS_MATH_LIB)
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2 changes: 1 addition & 1 deletion src/libraries/icubmod/canBusMotionControl/CanBusMotionControl.cpp
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Expand Up @@ -6757,7 +6757,7 @@ bool CanBusMotionControl::setPositionRaw(int j, double ref)
}
}

bool CanBusMotionControl::setPositionsRaw(const int n_joint, const int *joints, double *refs)
bool CanBusMotionControl::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
{
if (refs == 0) return false;
if (joints == 0) return false;
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2 changes: 1 addition & 1 deletion src/libraries/icubmod/canBusMotionControl/CanBusMotionControl.h
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Expand Up @@ -1079,7 +1079,7 @@ class yarp::dev::CanBusMotionControl:public DeviceDriver,

// PositionDirect Interface
virtual bool setPositionRaw(int j, double ref) override;
virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs) override;
virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override;
virtual bool setPositionsRaw(const double *refs) override;
virtual bool getRefPositionRaw(const int joint, double *ref) override;
virtual bool getRefPositionsRaw(double *refs) override;
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2 changes: 1 addition & 1 deletion src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
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Expand Up @@ -3865,7 +3865,7 @@ bool embObjMotionControl::setPositionRaw(int j, double ref)
return res->setRemoteValue(protoId, &setpoint);
}

bool embObjMotionControl::setPositionsRaw(const int n_joint, const int *joints, double *refs)
bool embObjMotionControl::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
{
bool ret = true;
for(int i=0; i<n_joint; i++)
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2 changes: 1 addition & 1 deletion src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
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Expand Up @@ -546,7 +546,7 @@ class yarp::dev::embObjMotionControl: public DeviceDriver,

// PositionDirect Interface
virtual bool setPositionRaw(int j, double ref) override;
virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs) override;
virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override;
virtual bool setPositionsRaw(const double *refs) override;
virtual bool getRefPositionRaw(const int joint, double *ref) override;
virtual bool getRefPositionsRaw(double *refs) override;
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2 changes: 1 addition & 1 deletion src/simulators/iCubSimulation/wrapper/iCubSimulationControl.cpp
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Expand Up @@ -2387,7 +2387,7 @@ bool iCubSimulationControl::setPositionRaw(int axis, double ref)
return false;
}

bool iCubSimulationControl::setPositionsRaw(const int n_joint, const int *joints, double *refs)
bool iCubSimulationControl::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
{
bool ret = true;
for(int i=0; i<n_joint; i++)
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2 changes: 1 addition & 1 deletion src/simulators/iCubSimulation/wrapper/iCubSimulationControl.h
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Expand Up @@ -350,7 +350,7 @@ class yarp::dev::iCubSimulationControl :
/////// PositionDirect
virtual bool setPositionDirectModeRaw();
virtual bool setPositionRaw(int j, double ref);
virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs);
virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs);
virtual bool setPositionsRaw(const double *refs);
virtual bool getRefPositionRaw(const int joint, double *ref);
virtual bool getRefPositionsRaw(double *refs);
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