Const-qualify most of the methods in SAC model classes #2270
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This field is used only by OptimizationFunctor inside optimizeModelCoefficients() function. Since it is logically local for that function, the pointer to inliers vector is now passed directly to OptimizationFunction. Additionally, mark the pointer to self that is passed to OptimizationFunctor as const, because the functor does not mutate the state of the model. After this patch the state of the SAC model is not mutated during the optimizeModelCoefficients() call and this method may be marked as const.
* isModelValid() * computeVariance() * getRadiusLimits() * getSamplesMaxDist() * computeModelCoefficients() * getDistancesToModel() * projectPoints() * estimateRigidTransformationSVD() * pointToLineDistance() * projectPointToLine() * projectPointToCylinder() * pointToAxisDistance() * countWithinDistance() * doSamplesVerifyModel() * optimizeModelCoefficients()
taketwo
added
needs: code review
SergioRAgostinho
approved these changes
May 2, 2018
sample_consensus/include/pcl/sample_consensus/impl/sac_model_registration.hpp
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This was referenced Aug 25, 2018
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SAC model objects are nearly stateless; most of their methods do not mutate model state. This pull request marks them as
const.