[Personalrobots-commit] SF.net SVN: personalrobots:[19146] pkg/trunk/motion_planning/ planning_models

[<is...@us...>]

Revision: 19146
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19146&view=rev
Author:   isucan
Date:     2009-07-17 22:29:08 +0000 (Fri, 17 Jul 2009)

Log Message:
-----------
on the same way....

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h
    pkg/trunk/motion_planning/planning_models/src/kinematic.cpp

Modified: pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h
===================================================================
--- pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h	2009-07-17 22:28:52 UTC (rev 19145)
+++ pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h	2009-07-17 22:29:08 UTC (rev 19146)
@@ -452,7 +452,7 @@
 	}
 	
 	/** \brief Return a new instance of the same model */
-	KinematicModel* clone(void);
+	KinematicModel* clone(void) const;
 	
 	/** \brief Construct a kinematic model from a string description and a list of planning groups */
 	void         build(const std::string &description, const std::map< std::string, std::vector<std::string> > &groups);
@@ -601,13 +601,13 @@
 	Joint* createJoint(const robot_desc::URDF::Link* urdfLink);
 
 	/** \brief Create a new joint instance (a copy) */
-	Joint* copyJoint(const Joint *joint);
+	Joint* copyJoint(const Joint *joint) const;
 	
 	/** \brief Recursive copy of data after a joint */
-	void cloneAfterJoint(Robot *rb, Joint *dest, const Joint *src);
+	void cloneAfterJoint(Robot *rb, Joint *dest, const Joint *src) const;
 
 	/** \brief Recursive copy of data after a link */
-	void cloneAfterLink(Robot *rb, Link *dest, const Link *src);
+	void cloneAfterLink(Robot *rb, Link *dest, const Link *src) const;
 	
     };
 

Modified: pkg/trunk/motion_planning/planning_models/src/kinematic.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_models/src/kinematic.cpp	2009-07-17 22:28:52 UTC (rev 19145)
+++ pkg/trunk/motion_planning/planning_models/src/kinematic.cpp	2009-07-17 22:29:08 UTC (rev 19146)
@@ -763,7 +763,7 @@
     }    
 }
 
-planning_models::KinematicModel::Joint* planning_models::KinematicModel::copyJoint(const Joint *joint)
+planning_models::KinematicModel::Joint* planning_models::KinematicModel::copyJoint(const Joint *joint) const
 {
     Joint *newJoint = NULL;
     
@@ -817,7 +817,7 @@
     return newJoint;
 }
 
-void planning_models::KinematicModel::cloneAfterJoint(Robot *rb, Joint *dest, const Joint *src)
+void planning_models::KinematicModel::cloneAfterJoint(Robot *rb, Joint *dest, const Joint *src) const
 {
     rb->joints.push_back(dest);
     dest->owner = rb;
@@ -829,7 +829,7 @@
     }
 }
 
-void planning_models::KinematicModel::cloneAfterLink(Robot *rb, Link *dest, const Link *src)
+void planning_models::KinematicModel::cloneAfterLink(Robot *rb, Link *dest, const Link *src) const
 {
     rb->links.push_back(dest);
     dest->owner = rb;
@@ -856,7 +856,7 @@
     }
 }
 
-planning_models::KinematicModel* planning_models::KinematicModel::clone(void)
+planning_models::KinematicModel* planning_models::KinematicModel::clone(void) const
 {
     KinematicModel *km = new KinematicModel();
     km->m_built = m_built;


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