Add const qualifier to multiple methods in SAC module

sample_consensus/include/pcl/sample_consensus/impl/mlesac.hpp

@@ -207,7 +207,7 @@ template <typename PointT> double
 pcl::MaximumLikelihoodSampleConsensus<PointT>::computeMedianAbsoluteDeviation (
     const PointCloudConstPtr &cloud, 
     const boost::shared_ptr <std::vector<int> > &indices, 
-    double sigma)
+    double sigma) const
 {
   std::vector<double> distances (indices->size ());
 
@@ -241,7 +241,7 @@ pcl::MaximumLikelihoodSampleConsensus<PointT>::getMinMax (
     const PointCloudConstPtr &cloud, 
     const boost::shared_ptr <std::vector<int> > &indices, 
     Eigen::Vector4f &min_p, 
-    Eigen::Vector4f &max_p)
+    Eigen::Vector4f &max_p) const
 {
   min_p.setConstant (FLT_MAX);
   max_p.setConstant (-FLT_MAX);
@@ -264,7 +264,7 @@ template <typename PointT> void
 pcl::MaximumLikelihoodSampleConsensus<PointT>::computeMedian (
     const PointCloudConstPtr &cloud, 
     const boost::shared_ptr <std::vector<int> > &indices, 
-    Eigen::Vector4f &median)
+    Eigen::Vector4f &median) const
 {
   // Copy the values to vectors for faster sorting
   std::vector<float> x (indices->size ());

sample_consensus/include/pcl/sample_consensus/mlesac.h

@@ -124,7 +124,7 @@ namespace pcl
       double 
       computeMedianAbsoluteDeviation (const PointCloudConstPtr &cloud, 
                                       const boost::shared_ptr <std::vector<int> > &indices, 
-                                      double sigma);
+                                      double sigma) const;
 
       /** \brief Determine the minimum and maximum 3D bounding box coordinates for a given set of points
         * \param[in] cloud the point cloud message
@@ -136,7 +136,7 @@ namespace pcl
       getMinMax (const PointCloudConstPtr &cloud, 
                  const boost::shared_ptr <std::vector<int> > &indices, 
                  Eigen::Vector4f &min_p, 
-                 Eigen::Vector4f &max_p);
+                 Eigen::Vector4f &max_p) const;
 
       /** \brief Compute the median value of a 3D point cloud using a given set point indices and return it as a Point32.
         * \param[in] cloud the point cloud data message
@@ -146,7 +146,7 @@ namespace pcl
       void 
       computeMedian (const PointCloudConstPtr &cloud, 
                      const boost::shared_ptr <std::vector<int> > &indices, 
-                     Eigen::Vector4f &median);
+                     Eigen::Vector4f &median) const;
 
     private:
       /** \brief Maximum number of EM (Expectation Maximization) iterations. */

sample_consensus/include/pcl/sample_consensus/rmsac.h

@@ -108,7 +108,7 @@ namespace pcl
 
       /** \brief Get the percentage of points to pre-test. */
       inline double 
-      getFractionNrPretest () { return (fraction_nr_pretest_); }
+      getFractionNrPretest () const { return (fraction_nr_pretest_); }
 
     private:
       /** \brief Number of samples to randomly pre-test, in percents. */

sample_consensus/include/pcl/sample_consensus/rransac.h

@@ -107,7 +107,7 @@ namespace pcl
 
       /** \brief Get the percentage of points to pre-test. */
       inline double 
-      getFractionNrPretest () { return (fraction_nr_pretest_); }
+      getFractionNrPretest () const { return (fraction_nr_pretest_); }
 
     private:
       /** \brief Number of samples to randomly pre-test, in percents. */

sample_consensus/include/pcl/sample_consensus/sac.h

@@ -140,7 +140,7 @@ namespace pcl
 
       /** \brief Get the distance to model threshold, as set by the user. */
       inline double 
-      getDistanceThreshold () { return (threshold_); }
+      getDistanceThreshold () const { return (threshold_); }
 
       /** \brief Set the maximum number of iterations.
         * \param[in] max_iterations maximum number of iterations
@@ -150,7 +150,7 @@ namespace pcl
 
       /** \brief Get the maximum number of iterations, as set by the user. */
       inline int 
-      getMaxIterations () { return (max_iterations_); }
+      getMaxIterations () const { return (max_iterations_); }
 
       /** \brief Set the desired probability of choosing at least one sample free from outliers.
         * \param[in] probability the desired probability of choosing at least one sample free from outliers
@@ -161,7 +161,7 @@ namespace pcl
 
       /** \brief Obtain the probability of choosing at least one sample free from outliers, as set by the user. */
       inline double 
-      getProbability () { return (probability_); }
+      getProbability () const { return (probability_); }
 
       /** \brief Compute the actual model. Pure virtual. */
       virtual bool 
@@ -290,19 +290,19 @@ namespace pcl
         * \param[out] model the resultant model
         */
       inline void 
-      getModel (std::vector<int> &model) { model = model_; }
+      getModel (std::vector<int> &model) const { model = model_; }
 
       /** \brief Return the best set of inliers found so far for this model. 
         * \param[out] inliers the resultant set of inliers
         */
       inline void 
-      getInliers (std::vector<int> &inliers) { inliers = inliers_; }
+      getInliers (std::vector<int> &inliers) const { inliers = inliers_; }
 
       /** \brief Return the model coefficients of the best model found so far. 
         * \param[out] model_coefficients the resultant model coefficients, as documented in \ref sample_consensus
         */
       inline void 
-      getModelCoefficients (Eigen::VectorXf &model_coefficients) { model_coefficients = model_coefficients_; }
+      getModelCoefficients (Eigen::VectorXf &model_coefficients) const { model_coefficients = model_coefficients_; }
 
     protected:
       /** \brief The underlying data model used (i.e. what is it that we attempt to search for). */

sample_consensus/include/pcl/sample_consensus/sac_model.h

@@ -615,7 +615,7 @@ namespace pcl
 
       /** \brief Get the normal angular distance weight. */
       inline double 
-      getNormalDistanceWeight () { return (normal_distance_weight_); }
+      getNormalDistanceWeight () const { return (normal_distance_weight_); }
 
       /** \brief Provide a pointer to the input dataset that contains the point
         * normals of the XYZ dataset.
@@ -630,7 +630,7 @@ namespace pcl
 
       /** \brief Get a pointer to the normals of the input XYZ point cloud dataset. */
       inline PointCloudNConstPtr 
-      getInputNormals () { return (normals_); }
+      getInputNormals () const { return (normals_); }
 
     protected:
       /** \brief The relative weight (between 0 and 1) to give to the angular

sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h

@@ -149,7 +149,7 @@ namespace pcl
 
       /** \brief Get the angle epsilon (delta) threshold. */
       inline double 
-      getEpsAngle () { return (eps_angle_); }
+      getEpsAngle () const { return (eps_angle_); }
 
       /** \brief Set the axis along which we need to search for a cylinder direction.
         * \param[in] ax the axis along which we need to search for a cylinder direction
@@ -159,7 +159,7 @@ namespace pcl
 
       /** \brief Get the axis along which we need to search for a cylinder direction. */
       inline Eigen::Vector3f 
-      getAxis ()  { return (axis_); }
+      getAxis () const { return (axis_); }
 
       /** \brief Check whether the given index samples can form a valid cylinder model, compute the model coefficients
         * from these samples and store them in model_coefficients. The cylinder coefficients are: point_on_axis,

sample_consensus/include/pcl/sample_consensus/sac_model_normal_parallel_plane.h

@@ -148,7 +148,7 @@ namespace pcl
 
       /** \brief Get the axis along which we need to search for a plane perpendicular to. */
       inline Eigen::Vector3f
-      getAxis () { return (axis_.head<3> ()); }
+      getAxis () const { return (axis_.head<3> ()); }
 
       /** \brief Set the angle epsilon (delta) threshold.
         * \param[in] ea the maximum allowed deviation from 90 degrees between the plane normal and the given axis.
@@ -159,7 +159,7 @@ namespace pcl
 
       /** \brief Get the angle epsilon (delta) threshold. */
       inline double
-      getEpsAngle () { return (eps_angle_); }
+      getEpsAngle () const { return (eps_angle_); }
 
       /** \brief Set the distance we expect the plane to be from the origin
         * \param[in] d distance from the template plane to the origin
@@ -169,7 +169,7 @@ namespace pcl
 
       /** \brief Get the distance of the plane from the origin. */
       inline double
-      getDistanceFromOrigin () { return (distance_from_origin_); }
+      getDistanceFromOrigin () const { return (distance_from_origin_); }
 
       /** \brief Set the distance epsilon (delta) threshold.
         * \param[in] delta the maximum allowed deviation from the template distance from the origin
@@ -179,7 +179,7 @@ namespace pcl
 
       /** \brief Get the distance epsilon (delta) threshold. */
       inline double
-      getEpsDist () { return (eps_dist_); }
+      getEpsDist () const { return (eps_dist_); }
 
       /** \brief Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE). */
       inline pcl::SacModel

sample_consensus/include/pcl/sample_consensus/sac_model_parallel_plane.h

@@ -118,7 +118,7 @@ namespace pcl
 
       /** \brief Get the axis along which we need to search for a plane perpendicular to. */
       inline Eigen::Vector3f
-      getAxis ()  { return (axis_); }
+      getAxis () const { return (axis_); }
 
       /** \brief Set the angle epsilon (delta) threshold.
         * \param[in] ea the maximum allowed difference between the plane normal and the given axis.
@@ -129,7 +129,7 @@ namespace pcl
 
       /** \brief Get the angle epsilon (delta) threshold. */
       inline double
-      getEpsAngle () { return (eps_angle_); }
+      getEpsAngle () const { return (eps_angle_); }
 
       /** \brief Select all the points which respect the given model coefficients as inliers.
         * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to

sample_consensus/include/pcl/sample_consensus/sac_model_perpendicular_plane.h

@@ -121,7 +121,7 @@ namespace pcl
 
       /** \brief Get the axis along which we need to search for a plane perpendicular to. */
       inline Eigen::Vector3f 
-      getAxis ()  { return (axis_); }
+      getAxis () const { return (axis_); }
 
       /** \brief Set the angle epsilon (delta) threshold.
         * \param[in] ea the maximum allowed difference between the plane normal and the given axis.
@@ -132,7 +132,7 @@ namespace pcl
 
       /** \brief Get the angle epsilon (delta) threshold. */
       inline double 
-      getEpsAngle () { return (eps_angle_); }
+      getEpsAngle () const { return (eps_angle_); }
 
       /** \brief Select all the points which respect the given model coefficients as inliers.
         * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to