const correctness

VirtualRobot/IK/platform/MecanumPlatformKinematics.cpp

 
-
 #include "MecanumPlatformKinematics.h"
 
 namespace VirtualRobot
@@ -44,18 +43,19 @@ namespace VirtualRobot
         return m;
     }
 
-    MecanumPlatformKinematics::MecanumPlatformKinematics(const Params& params) : params(params)
+    MecanumPlatformKinematics::MecanumPlatformKinematics(const Params& params) :
+        params(params), J(params.J()), J_inv(params.J_inv())
     {
     }
 
     MecanumPlatformKinematics::WheelVelocities
-    MecanumPlatformKinematics::calcWheelVelocity(const CartesianVelocity& v)
+    MecanumPlatformKinematics::calcWheelVelocity(const CartesianVelocity& v) const
     {
         return J_inv * v;
     }
 
     MecanumPlatformKinematics::CartesianVelocity
-    MecanumPlatformKinematics::calcCartesianVelocity(const WheelVelocities& w)
+    MecanumPlatformKinematics::calcCartesianVelocity(const WheelVelocities& w) const
     {
         return J * w;
     }

VirtualRobot/IK/platform/MecanumPlatformKinematics.h

@@ -90,10 +90,10 @@ namespace VirtualRobot
         MecanumPlatformKinematics(const Params& params);
 
         //! inverse model
-        WheelVelocities calcWheelVelocity(const CartesianVelocity& v);
+        WheelVelocities calcWheelVelocity(const CartesianVelocity& v) const;
 
         //! forward model
-        CartesianVelocity calcCartesianVelocity(const WheelVelocities& w);
+        CartesianVelocity calcCartesianVelocity(const WheelVelocities& w) const;
 
         const Params& getParams() const;
 

VirtualRobot/IK/platform/OmniWheelPlatformKinematics.cpp

@@ -51,13 +51,13 @@ namespace VirtualRobot
     }
 
     OmniWheelPlatformKinematics::WheelVelocities
-    OmniWheelPlatformKinematics::calcWheelVelocity(const CartesianVelocity& v)
+    OmniWheelPlatformKinematics::calcWheelVelocity(const CartesianVelocity& v) const
     {
         return C * v;
     }
 
     OmniWheelPlatformKinematics::CartesianVelocity
-    OmniWheelPlatformKinematics::calcCartesianVelocity(const WheelVelocities& w)
+    OmniWheelPlatformKinematics::calcCartesianVelocity(const WheelVelocities& w) const
     {
         return C_inv * w;
     }

VirtualRobot/IK/platform/OmniWheelPlatformKinematics.h

@@ -81,10 +81,10 @@ namespace VirtualRobot
         OmniWheelPlatformKinematics(const Params& info);
 
         //! inverse model
-        WheelVelocities calcWheelVelocity(const CartesianVelocity& v);
+        WheelVelocities calcWheelVelocity(const CartesianVelocity& v) const;
 
         //! forward model
-        CartesianVelocity calcCartesianVelocity(const WheelVelocities& w);
+        CartesianVelocity calcCartesianVelocity(const WheelVelocities& w) const;
 
         const Params& getParams() const;