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robot footprint model access specifiers loosened #295

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robot footprint model access specifiers loosened #295

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18 changes: 9 additions & 9 deletions include/teb_local_planner/robot_footprint_model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,7 @@ class BaseRobotFootprintModel
* @brief Compute the inscribed radius of the footprint model
* @return inscribed radius
*/
virtual double getInscribedRadius() = 0;
virtual double getInscribedRadius() const = 0;



Expand Down Expand Up @@ -172,7 +172,7 @@ class PointRobotFootprint : public BaseRobotFootprintModel
* @brief Compute the inscribed radius of the footprint model
* @return inscribed radius
*/
virtual double getInscribedRadius() {return 0.0;}
virtual double getInscribedRadius() const {return 0.0;}

};

Expand Down Expand Up @@ -249,7 +249,7 @@ class CircularRobotFootprint : public BaseRobotFootprintModel
* @brief Compute the inscribed radius of the footprint model
* @return inscribed radius
*/
virtual double getInscribedRadius() {return radius_;}
virtual double getInscribedRadius() const {return radius_;}

private:

Expand Down Expand Up @@ -362,14 +362,14 @@ class TwoCirclesRobotFootprint : public BaseRobotFootprintModel
* @brief Compute the inscribed radius of the footprint model
* @return inscribed radius
*/
virtual double getInscribedRadius()
virtual double getInscribedRadius() const
{
double min_longitudinal = std::min(rear_offset_ + rear_radius_, front_offset_ + front_radius_);
double min_lateral = std::min(rear_radius_, front_radius_);
return std::min(min_longitudinal, min_lateral);
}

private:
protected:

double front_offset_;
double front_radius_;
Expand Down Expand Up @@ -501,12 +501,12 @@ class LineRobotFootprint : public BaseRobotFootprintModel
* @brief Compute the inscribed radius of the footprint model
* @return inscribed radius
*/
virtual double getInscribedRadius()
virtual double getInscribedRadius() const
{
return 0.0; // lateral distance = 0.0
}

private:
protected:

/**
* @brief Transforms a line to the world frame manually
Expand Down Expand Up @@ -631,7 +631,7 @@ class PolygonRobotFootprint : public BaseRobotFootprintModel
* @brief Compute the inscribed radius of the footprint model
* @return inscribed radius
*/
virtual double getInscribedRadius()
virtual double getInscribedRadius() const
{
double min_dist = std::numeric_limits<double>::max();
Eigen::Vector2d center(0.0, 0.0);
Expand All @@ -653,7 +653,7 @@ class PolygonRobotFootprint : public BaseRobotFootprintModel
return std::min(min_dist, std::min(vertex_dist, edge_dist));
}

private:
protected:

/**
* @brief Transforms a polygon to the world frame manually
Expand Down