Estimator.hpp : return Eigen::Ref

inria-paris-robotics-lab · Jun 2, 2024 · 19a022a · 19a022a
1 parent 9083bcf
commit 19a022a
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Showing 2 changed files with 12 additions and 11 deletions.
diff --git a/include/qrw/Estimator.hpp b/include/qrw/Estimator.hpp
@@ -56,10 +56,10 @@ class Estimator {
 
   void initializeIMUYaw() { initialized_ = false; };
 
-  VectorN getQEstimate() { return qEstimate_; }
-  VectorN getVEstimate() { return vEstimate_; }
-  VectorN getVSecurity() { return vSecurity_; }
-  VectorN getFeetStatus() { return feetStatus_; }
+  ConstVecRefN getQEstimate() { return qEstimate_; }
+  ConstVecRefN getVEstimate() { return vEstimate_; }
+  ConstVecRefN getVSecurity() { return vSecurity_; }
+  ConstVecRefN getFeetStatus() { return feetStatus_; }
   Vector3 getBaseVelocityFK() { return baseVelocityFK_; }
   Vector3 getBasePositionFK() { return basePositionFK_; }
   Vector3 getBBaseVelocity() { return b_baseVelocity_; }
@@ -74,13 +74,13 @@ class Estimator {
   Vector3 getFilterPosAlpha() { return positionFilter_.getAlpha(); }
   Vector3 getFilterPosFiltX() { return positionFilter_.getFilteredX(); }
 
-  VectorN getQReference() { return qRef_; }
-  VectorN getVReference() { return vRef_; }
-  VectorN getBaseVelRef() { return baseVelRef_; }
-  VectorN getBaseAccRef() { return baseAccRef_; }
-  VectorN getHV() { return h_v_; }
-  VectorN getVFiltered() { return vFiltered_; }
-  VectorN getHVFiltered() { return h_vFiltered_; }
+  ConstVecRefN getQReference() { return qRef_; }
+  ConstVecRefN getVReference() { return vRef_; }
+  ConstVecRefN getBaseVelRef() { return baseVelRef_; }
+  ConstVecRefN getBaseAccRef() { return baseAccRef_; }
+  ConstVecRefN getHV() { return h_v_; }
+  ConstVecRefN getVFiltered() { return vFiltered_; }
+  ConstVecRefN getHVFiltered() { return h_vFiltered_; }
   Matrix3 getoRh() { return oRh_; }
   Matrix3 gethRb() { return hRb_; }
   Vector3 getoTh() { return oTh_; }

diff --git a/include/qrw/Types.hpp b/include/qrw/Types.hpp
@@ -46,6 +46,7 @@ using Matrix3N = Eigen::Matrix<Scalar, 3, Eigen::Dynamic>;
 using Matrix6N = Eigen::Matrix<Scalar, 6, Eigen::Dynamic>;
 using Matrix12N = Eigen::Matrix<Scalar, 12, Eigen::Dynamic>;
 using MatrixN = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>;
+using ConstMatRefN = Eigen::Ref<const MatrixN>;
 using MatrixNi = Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic>;
 
 #endif  // TYPES_H_INCLUDED