From 4d203ae45fc623f1a4296621e80eaa8a677483b3 Mon Sep 17 00:00:00 2001
From: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
Date: Tue, 4 Mar 2025 22:05:29 +0900
Subject: [PATCH] feat: const func & fix typos (#9)

Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
---
 .../managed_transform_buffer_provider.hpp     |  6 +++---
 .../src/managed_transform_buffer.cpp          |  1 -
 .../src/managed_transform_buffer_provider.cpp | 19 +++++++++----------
 3 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/managed_transform_buffer/include/managed_transform_buffer/managed_transform_buffer_provider.hpp b/managed_transform_buffer/include/managed_transform_buffer/managed_transform_buffer_provider.hpp
index 9b6c903..aaa6b40 100644
--- a/managed_transform_buffer/include/managed_transform_buffer/managed_transform_buffer_provider.hpp
+++ b/managed_transform_buffer/include/managed_transform_buffer/managed_transform_buffer_provider.hpp
@@ -173,7 +173,7 @@ class ManagedTransformBufferProvider
    */
   std::optional<TransformStamped> lookupTransform(
     const std::string & target_frame, const std::string & source_frame, const tf2::TimePoint & time,
-    const tf2::Duration & timeout, const rclcpp::Logger & logger);
+    const tf2::Duration & timeout, const rclcpp::Logger & logger) const;
 
   /** @brief Traverse TF tree built by local TF listener.
    *
@@ -185,7 +185,7 @@ class ManagedTransformBufferProvider
    */
   TraverseResult traverseTree(
     const std::string & target_frame, const std::string & source_frame,
-    const tf2::Duration & timeout, const rclcpp::Logger & logger);
+    const tf2::Duration & timeout, const rclcpp::Logger & logger) const;
 
   /** @brief Get a dynamic transform from the TF buffer.
    *
@@ -198,7 +198,7 @@ class ManagedTransformBufferProvider
    */
   std::optional<TransformStamped> getDynamicTransform(
     const std::string & target_frame, const std::string & source_frame, const tf2::TimePoint & time,
-    const tf2::Duration & timeout, const rclcpp::Logger & logger);
+    const tf2::Duration & timeout, const rclcpp::Logger & logger) const;
 
   /** @brief Get a static transform from local TF buffer.
    *
diff --git a/managed_transform_buffer/src/managed_transform_buffer.cpp b/managed_transform_buffer/src/managed_transform_buffer.cpp
index a188e45..2438521 100644
--- a/managed_transform_buffer/src/managed_transform_buffer.cpp
+++ b/managed_transform_buffer/src/managed_transform_buffer.cpp
@@ -42,7 +42,6 @@ std::optional<TransformStamped> ManagedTransformBuffer::getTransform<TransformSt
   const std::string & target_frame, const std::string & source_frame, const tf2::TimePoint & time,
   const tf2::Duration & timeout, const rclcpp::Logger & logger)
 {
-  provider_->getTransform(target_frame, source_frame, time, timeout, logger);
   return provider_->getTransform(target_frame, source_frame, time, timeout, logger);
 }
 
diff --git a/managed_transform_buffer/src/managed_transform_buffer_provider.cpp b/managed_transform_buffer/src/managed_transform_buffer_provider.cpp
index 01d2f9f..fe123a5 100644
--- a/managed_transform_buffer/src/managed_transform_buffer_provider.cpp
+++ b/managed_transform_buffer/src/managed_transform_buffer_provider.cpp
@@ -48,12 +48,12 @@ ManagedTransformBufferProvider & ManagedTransformBufferProvider::getInstance(
     if (instance.isStatic()) {
       instance.registerAsDynamic();
     }
-    if (clock_type != instance.clock_->get_clock_type()) {
-      RCLCPP_WARN_THROTTLE(
-        instance.logger_, *instance.clock_, 3000,
-        "Input clock type does not match (%d vs. %d). Input clock type will be ignored.",
-        clock_type, instance.clock_->get_clock_type());
-    }
+  }
+  if (clock_type != instance.clock_->get_clock_type()) {
+    RCLCPP_WARN_THROTTLE(
+      instance.logger_, *instance.clock_, 3000,
+      "Input clock type does not match (%d vs. %d). Input clock type will be ignored.", clock_type,
+      instance.clock_->get_clock_type());
   }
   return instance;
 }
@@ -191,10 +191,9 @@ void ManagedTransformBufferProvider::tfCallback(
 
 std::optional<TransformStamped> ManagedTransformBufferProvider::lookupTransform(
   const std::string & target_frame, const std::string & source_frame, const tf2::TimePoint & time,
-  const tf2::Duration & timeout, const rclcpp::Logger & logger)
+  const tf2::Duration & timeout, const rclcpp::Logger & logger) const
 {
   try {
-    auto x = node_->get_logger();
     auto tf = tf_buffer_->lookupTransform(target_frame, source_frame, time, timeout);
     return std::make_optional<TransformStamped>(tf);
   } catch (const tf2::TransformException & ex) {
@@ -207,7 +206,7 @@ std::optional<TransformStamped> ManagedTransformBufferProvider::lookupTransform(
 
 TraverseResult ManagedTransformBufferProvider::traverseTree(
   const std::string & target_frame, const std::string & source_frame, const tf2::Duration & timeout,
-  const rclcpp::Logger & logger)
+  const rclcpp::Logger & logger) const
 {
   std::atomic<bool> timeout_reached{false};
 
@@ -285,7 +284,7 @@ TraverseResult ManagedTransformBufferProvider::traverseTree(
 
 std::optional<TransformStamped> ManagedTransformBufferProvider::getDynamicTransform(
   const std::string & target_frame, const std::string & source_frame, const tf2::TimePoint & time,
-  const tf2::Duration & timeout, const rclcpp::Logger & logger)
+  const tf2::Duration & timeout, const rclcpp::Logger & logger) const
 {
   return lookupTransform(target_frame, source_frame, time, timeout, logger);
 }