Make RobotStateComponentPlugin::RobotData::calculateRobotReachability const correct

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp

@@ -224,14 +224,14 @@ namespace armarx::plugins
         }
     }
 
-    SimpleDiffIK::Result RobotStateComponentPlugin::RobotData::calculateRobotDiffIK(const Eigen::Matrix4f& targetPose, const SimpleDiffIK::Parameters& params)
+    SimpleDiffIK::Result RobotStateComponentPlugin::RobotData::calculateRobotDiffIK(const Eigen::Matrix4f& targetPose, const SimpleDiffIK::Parameters& params) const
     {
         ARMARX_CHECK_NOT_NULL(rns) << "No robot node set configured for the robot";
         ARMARX_CHECK_NOT_NULL(node) << "No tcp configured for the robot";
         return SimpleDiffIK::CalculateDiffIK(targetPose, rns, node, params);
     }
 
-    SimpleDiffIK::Reachability RobotStateComponentPlugin::RobotData::calculateRobotReachability(const std::vector<Eigen::Matrix4f>& targets, const Eigen::VectorXf& initialJV, const SimpleDiffIK::Parameters& params)
+    SimpleDiffIK::Reachability RobotStateComponentPlugin::RobotData::calculateRobotReachability(const std::vector<Eigen::Matrix4f>& targets, const Eigen::VectorXf& initialJV, const SimpleDiffIK::Parameters& params) const
     {
         ARMARX_CHECK_NOT_NULL(rns) << "No robot node set configured for the robot";
         ARMARX_CHECK_NOT_NULL(node) << "No tcp configured for the robot ";

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h

@@ -125,11 +125,11 @@ namespace armarx::plugins
 
             SimpleDiffIK::Result calculateRobotDiffIK(
                 const Eigen::Matrix4f& targetPose,
-                const SimpleDiffIK::Parameters& params = {});
+                const SimpleDiffIK::Parameters& params = {}) const;
             SimpleDiffIK::Reachability calculateRobotReachability(
                 const std::vector<Eigen::Matrix4f>& targets,
                 const Eigen::VectorXf& initialJV,
-                const SimpleDiffIK::Parameters& params = {});
+                const SimpleDiffIK::Parameters& params = {}) const;
         };
         //data
     private: