Const correctness

CMakeLists.txt

@@ -47,7 +47,7 @@ list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
 
 # Main project
 project(YARP
-        VERSION 2.3.73.3
+        VERSION 2.3.73.4
         LANGUAGES C CXX)
 set(PROJECT_DESCRIPTION "YARP: A thin middleware for humanoid robots and more")
 

bindings/yarp.i

@@ -178,8 +178,8 @@
 %ignore yarp::sig::Image::pixel(int,int) const;
 %ignore yarp::sig::Image::getRow(int) const;
 %ignore yarp::sig::Image::getIplImage() const;
-%ignore yarp::sig::Image::getReadType();
-%ignore yarp::sig::Vector::getType();
+%ignore yarp::sig::Image::getReadType() const;
+%ignore yarp::sig::Vector::getType() const;
 %ignore yarp::os::Property::put(const char *,Value *);
 %ignore yarp::os::Bottle::add(Value *);
 %rename(toString) std::string::operator const char *() const;

doc/release/v3_0_0.md

@@ -76,11 +76,9 @@ Important Changes
 * `Thread` `setOptions()` and `setDefaultStackSize()` are now deprecated and
   no longer doing anything.
 * The `YARP_STACK_SIZE` environment variable is no longer used.
-
-#### `YARP_sig`
-
-* The file `yarp/sig/IplImage.h` is deprecated, use opencv headers instead.
-* Added the `yarp::sig::PointCloud` class. See the documentation for details.
+* `Portable::getType()` became `Portable::getType() const`(#1617).
+* `PortWriter::getWriteType()` became `PortWriter::getWriteType() const`(#1621).
+* `PortReader::getReadType()` became `PortReader::getReadType() const`(#1616).
 
 #### `YARP_dev`
 
@@ -149,10 +147,15 @@ Important Changes
   - `IVelocityControl2Raw` in favour of `IVelocityControlRaw`.
   - `IVelocityControl2` in favour of `IVelocityControl`.
   - `ImplementVelocityControl2` in favour of `ImplementVelocityControl`.
+* `IPositionDirectRaw::setPositionsRaw(const int, const int*, double*)` became
+  `IPositionDirectRaw::setPositionsRaw(const int, const int*, const double*)`.
+* `IPositionDirect::setPositions(const int, const int*, double*)` became
+  `IPositionDirect::setPositions(const int, const int*, const double*)`(#1351).
 
 #### `YARP_sig`
 
 * The file `yarp/sig/IplImage.h` is deprecated, use opencv headers instead.
+* Added the `yarp::sig::PointCloud` class. See the documentation for details.
 
 #### `YARP_manager`
 
@@ -251,7 +254,7 @@ New Features
 * Added realsense2 device.
 
 
-### bindings
+### Bindings
 
 #### IMotorEncoders interface bindings
 

src/devices/fakeMotionControl/fakeMotionControl.cpp

@@ -2865,7 +2865,7 @@ bool FakeMotionControl::setPositionRaw(int j, double ref)
     return true;
 }
 
-bool FakeMotionControl::setPositionsRaw(const int n_joint, const int *joints, double *refs)
+bool FakeMotionControl::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
 {
     for(int i=0; i< n_joint; i++)
     {

src/devices/fakeMotionControl/fakeMotionControl.h

@@ -448,7 +448,7 @@ class yarp::dev::FakeMotionControl :    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;

src/idls/rosmsg/src/RosTypeCodeGenYarp.cpp

@@ -821,7 +821,7 @@ bool RosTypeCodeGenYarp::endType(const std::string& tname,
     fprintf(out, "\n");
 
     fprintf(out, "    // Name the class, ROS will need this\n");
-    fprintf(out, "    yarp::os::Type getType() override\n");
+    fprintf(out, "    yarp::os::Type getType() const override\n");
     fprintf(out, "    {\n");
     fprintf(out, "        yarp::os::Type typ = yarp::os::Type::byName(\"%s\", \"%s\");\n", dbl_name.c_str(), dbl_name.c_str());
     fprintf(out, "        typ.addProperty(\"md5sum\", yarp::os::Value(\"%s\"));\n", field.checksum.c_str());

src/libYARP_OS/include/yarp/os/PortReader.h

@@ -45,7 +45,7 @@ class YARP_OS_API PortReader
      */
     virtual bool read(ConnectionReader& reader) = 0;
 
-    virtual Type getReadType();
+    virtual Type getReadType() const;
 };
 
 } // namespace os

src/libYARP_OS/include/yarp/os/PortWriter.h

@@ -57,7 +57,7 @@ class YARP_OS_API yarp::os::PortWriter {
      */
     virtual void onCommencement();
 
-    virtual Type getWriteType() { return Type::anon(); }
+    virtual Type getWriteType() const { return Type::anon(); }
 };
 
 #endif // YARP_OS_PORTWRITER_H

src/libYARP_OS/include/yarp/os/Portable.h

@@ -34,7 +34,7 @@ class YARP_OS_API yarp::os::Portable : public PortReader, public PortWriter
     virtual bool read(ConnectionReader& reader) override = 0;
     virtual bool write(ConnectionWriter& writer) override = 0;
 
-    virtual Type getType() { return getReadType(); }
+    virtual Type getType() const { return getReadType(); }
 
     /**
      * Copy one portable to another, via writing and reading.

src/libYARP_OS/include/yarp/os/Stamp.h

@@ -46,29 +46,29 @@ class YARP_OS_API Stamp : public Portable
      *
      * @return the sequence number.
      */
-    int getCount();
+    int getCount() const;
 
     /**
      * Get the time stamp.
      *
      * @return the time stamp
      */
-    double getTime();
+    double getTime() const;
 
     /**
      * Check if this Stamp is valid.
      *
      * @return true if this is a valid Stamp
      */
-    bool isValid();
+    bool isValid() const;
 
     /**
      * Get the maximum sequence number, after which an incrementing sequence
      * should return to zero.
      *
      * @return the maximum sequence number.
      */
-    int getMaxCount();
+    int getMaxCount() const;
 
     /**
      * Set the timestamp to the current time, and increment the sequence number

src/libYARP_OS/src/PortReader.cpp

@@ -14,7 +14,7 @@ yarp::os::PortReader::~PortReader()
 {
 }
 
-yarp::os::Type yarp::os::PortReader::getReadType()
+yarp::os::Type yarp::os::PortReader::getReadType() const
 {
     return Type::anon();
 }

src/libYARP_OS/src/Stamp.cpp

@@ -25,17 +25,17 @@ yarp::os::Stamp::Stamp()
     timeStamp = 0;
 }
 
-int yarp::os::Stamp::getCount()
+int yarp::os::Stamp::getCount() const
 {
     return sequenceNumber;
 }
 
-double yarp::os::Stamp::getTime()
+double yarp::os::Stamp::getTime() const
 {
     return timeStamp;
 }
 
-bool yarp::os::Stamp::isValid()
+bool yarp::os::Stamp::isValid() const
 {
     return sequenceNumber >= 0;
 }
@@ -101,7 +101,7 @@ bool yarp::os::Stamp::write(ConnectionWriter& connection)
     return !connection.isError();
 }
 
-int yarp::os::Stamp::getMaxCount()
+int yarp::os::Stamp::getMaxCount() const
 {
     // a very conservative maximum
     return 32767;

src/libYARP_dev/include/yarp/dev/IPositionDirect.h

@@ -6,9 +6,12 @@
  * BSD-3-Clause license. See the accompanying LICENSE file for details.
  */
 
+
 #ifndef YARP_IPOSITIONDIRECT_H
 #define YARP_IPOSITIONDIRECT_H
 
+#include <yarp/dev/api.h>
+
 namespace yarp {
     namespace dev {
         class IPositionDirect;
@@ -58,7 +61,7 @@ class YARP_dev_API yarp::dev::IPositionDirect
      *          refs    10 30 40
      * @return true/false on success/failure
      */
-    virtual bool setPositions(const int n_joint, const int *joints, double *refs)=0;
+    virtual bool setPositions(const int n_joint, const int *joints, const double *refs)=0;
 
     /** Set new position for a set of axis.
      * @param refs specifies the new reference points
@@ -75,7 +78,7 @@ class YARP_dev_API yarp::dev::IPositionDirect
      * @param ref last reference sent using setPosition(s) functions
      * @return true/false on success/failure
      */
-    virtual bool getRefPosition(const int joint, double *ref) {return false;};
+    virtual bool getRefPosition(const int joint, double *ref) {return false;}
 
     /** Get the last position reference for all axes.
      *  This is the dual of setPositionsRaw and shall return only values sent using
@@ -86,7 +89,7 @@ class YARP_dev_API yarp::dev::IPositionDirect
      * @param ref array containing last reference sent using setPosition(s) functions
      * @return true/false on success/failure
      */
-    virtual bool getRefPositions(double *refs) {return false;};
+    virtual bool getRefPositions(double *refs) {return false;}
 
     /** Get the last position reference for the specified group of axes.
      *  This is the dual of setPositionsRaw and shall return only values sent using
@@ -97,7 +100,7 @@ class YARP_dev_API yarp::dev::IPositionDirect
      * @param ref array containing last reference sent using setPosition(s) functions
      * @return true/false on success/failure
      */
-    virtual bool getRefPositions(const int n_joint, const int *joints, double *refs) {return false;};
+    virtual bool getRefPositions(const int n_joint, const int *joints, double *refs) {return false;}
 };
 
 
@@ -142,7 +145,7 @@ class yarp::dev::IPositionDirectRaw
      *          refs    10 30 40
      * @return true/false on success/failure
      */
-    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs)=0;
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs)=0;
 
 
     /** Set new position for a set of axes.
@@ -160,7 +163,7 @@ class yarp::dev::IPositionDirectRaw
      * @param ref last reference sent using setPosition(s) functions
      * @return true/false on success/failure
      */
-    virtual bool getRefPositionRaw(const int joint, double *ref) {return false;};
+    virtual bool getRefPositionRaw(const int joint, double *ref) {return false;}
 
     /** Get the last position reference for all axes.
      *  This is the dual of setPositionsRaw and shall return only values sent using
@@ -183,7 +186,7 @@ class yarp::dev::IPositionDirectRaw
      * @param ref array containing last reference sent using setPosition(s) functions
      * @return true/false on success/failure
      */
-    virtual bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs) {return false;};
+    virtual bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs) {return false;}
 };
 
 #define VOCAB_POSITION_DIRECT           VOCAB3('d','p','o')

src/libYARP_dev/include/yarp/dev/IPositionDirectImpl.h

@@ -63,7 +63,7 @@ class YARP_dev_API yarp::dev::ImplementPositionDirect : public yarp::dev::IPosit
 
     virtual bool getAxes(int *axes) override;
     virtual bool setPosition(int j, double ref) override;
-    virtual bool setPositions(const int n_joint, const int *joints, double *refs) override;
+    virtual bool setPositions(const int n_joint, const int *joints, const double *refs) override;
     virtual bool setPositions(const double *refs) override;
     virtual bool getRefPosition(const int joint, double *ref) override;
     virtual bool getRefPositions(double *refs) override;
@@ -103,7 +103,7 @@ class YARP_dev_API yarp::dev::StubImplPositionDirectRaw: public IPositionDirect
     virtual bool setPosition(int j, double ref) override
     {return NOT_YET_IMPLEMENTED("setPosition");}
 
-    virtual bool setPositions(const int n_joint, const int *joints, double *refs) override
+    virtual bool setPositions(const int n_joint, const int *joints, const double *refs) override
     {return NOT_YET_IMPLEMENTED("setPositions");}
 
     virtual bool setPositions(const double *refs) override

src/libYARP_dev/src/IPositionDirectImpl.cpp

@@ -70,7 +70,7 @@ bool ImplementPositionDirect::setPosition(int j, double ref)
     return iPDirect->setPositionRaw(k, enc);
 }
 
-bool ImplementPositionDirect::setPositions(const int n_joint, const int *joints, double *refs)
+bool ImplementPositionDirect::setPositions(const int n_joint, const int *joints, const double *refs)
 {
     int *tmp_joints =  new int [nj];
     double *tmp_refs = new double [nj];

src/libYARP_dev/src/devices/ControlBoardRemapper/ControlBoardRemapper.cpp

@@ -3739,7 +3739,7 @@ bool ControlBoardRemapper::setPosition(int j, double ref)
     return false;
 }
 
-bool ControlBoardRemapper::setPositions(const int n_joints, const int *joints, double *dpos)
+bool ControlBoardRemapper::setPositions(const int n_joints, const int *joints, const double *dpos)
 {
     bool ret=true;
     yarp::os::LockGuard(selectedJointsBuffers.mutex);

src/libYARP_dev/src/devices/ControlBoardRemapper/ControlBoardRemapper.h

@@ -525,7 +525,7 @@ class ControlBoardRemapper : public yarp::dev::DeviceDriver,
 
     virtual bool setPosition(int j, double ref) override;
 
-    virtual bool setPositions(const int n_joints, const int *joints, double *dpos) override;
+    virtual bool setPositions(const int n_joints, const int *joints, const double *dpos) override;
 
     virtual bool setPositions(const double *refs) override;
 

src/libYARP_dev/src/devices/ControlBoardWrapper/ControlBoardWrapper.cpp

@@ -4471,7 +4471,7 @@ bool ControlBoardWrapper::setPosition(int j, double ref)
     return false;
 }
 
-bool ControlBoardWrapper::setPositions(const int n_joints, const int *joints, double *dpos)
+bool ControlBoardWrapper::setPositions(const int n_joints, const int *joints, const double *dpos)
 {
     bool ret = true;
 

src/libYARP_dev/src/devices/ControlBoardWrapper/ControlBoardWrapper.h

@@ -1186,7 +1186,7 @@ class yarp::dev::ControlBoardWrapper:   public yarp::dev::DeviceDriver,
 
     virtual bool setPosition(int j, double ref) override;
 
-    virtual bool setPositions(const int n_joints, const int *joints, double *dpos) override;
+    virtual bool setPositions(const int n_joints, const int *joints, const double *dpos) override;
 
     virtual bool setPositions(const double *refs) override;
 

src/libYARP_dev/src/devices/RemoteControlBoard/RemoteControlBoard.cpp

@@ -2859,7 +2859,7 @@ class yarp::dev::RemoteControlBoard :
         return true;
     }
 
-    bool setPositions(const int n_joint, const int *joints, double *refs) override
+    bool setPositions(const int n_joint, const int *joints, const double *refs) override
     {
         if (!isLive()) return false;
         CommandMessage& c = command_buffer.get();

src/libYARP_math/include/yarp/math/Quaternion.h

@@ -168,7 +168,7 @@ class YARP_math_API yarp::math::Quaternion : public yarp::os::Portable
     */
     virtual bool write(yarp::os::ConnectionWriter& connection) override;
 
-    virtual yarp::os::Type getType() override
+    virtual yarp::os::Type getType() const override
     {
         return yarp::os::Type::byName("yarp/quaternion");
     }

src/libYARP_math/include/yarp/math/Vec2D.h

@@ -64,7 +64,7 @@ class YARP_math_API Vec2D : public yarp::os::Portable
     */
     virtual bool write(yarp::os::ConnectionWriter& connection) override;
 
-    virtual yarp::os::Type getType() override
+    virtual yarp::os::Type getType() const override
     {
         return yarp::os::Type::byName("yarp/vec2D");
     }

src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickDuration.h

@@ -171,7 +171,7 @@ class TickDuration : public yarp::os::idl::WirePortable
     }
 
     // Name the class, ROS will need this
-    yarp::os::Type getType() override
+    yarp::os::Type getType() const override
     {
         yarp::os::Type typ = yarp::os::Type::byName("TickDuration", "TickDuration");
         typ.addProperty("md5sum", yarp::os::Value("4f8dc7710c22b42c7b09295dcda33fa0"));

src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/TickTime.h

@@ -171,7 +171,7 @@ class TickTime : public yarp::os::idl::WirePortable
     }
 
     // Name the class, ROS will need this
-    yarp::os::Type getType() override
+    yarp::os::Type getType() const override
     {
         yarp::os::Type typ = yarp::os::Type::byName("TickTime", "TickTime");
         typ.addProperty("md5sum", yarp::os::Value("4f8dc7710c22b42c7b09295dcda33fa0"));

src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalID.h

@@ -169,7 +169,7 @@ string id\n\
     }
 
     // Name the class, ROS will need this
-    yarp::os::Type getType() override
+    yarp::os::Type getType() const override
     {
         yarp::os::Type typ = yarp::os::Type::byName("actionlib_msgs/GoalID", "actionlib_msgs/GoalID");
         typ.addProperty("md5sum", yarp::os::Value("302881f31927c1df708a2dbab0e80ee8"));

src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatus.h

@@ -246,7 +246,7 @@ MSG: actionlib_msgs/GoalID\n\
     }
 
     // Name the class, ROS will need this
-    yarp::os::Type getType() override
+    yarp::os::Type getType() const override
     {
         yarp::os::Type typ = yarp::os::Type::byName("actionlib_msgs/GoalStatus", "actionlib_msgs/GoalStatus");
         typ.addProperty("md5sum", yarp::os::Value("d388f9b87b3c471f784434d671988d4a"));

src/libYARP_rosmsg/idl_generated_code/include/yarp/rosmsg/actionlib_msgs/GoalStatusArray.h

@@ -183,7 +183,7 @@ MSG: actionlib_msgs/GoalStatus\n\
     }
 
     // Name the class, ROS will need this
-    yarp::os::Type getType() override
+    yarp::os::Type getType() const override
     {
         yarp::os::Type typ = yarp::os::Type::byName("actionlib_msgs/GoalStatusArray", "actionlib_msgs/GoalStatusArray");
         typ.addProperty("md5sum", yarp::os::Value("8b2b82f13216d0a8ea88bd3af735e619"));