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feat: const func & fix typos #9

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merged 1 commit into from
Mar 4, 2025
Merged

feat: const func & fix typos #9

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6 changes: 3 additions & 3 deletions ...d_transform_buffer/include/managed_transform_buffer/managed_transform_buffer_provider.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
*
Expand All @@ -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.
*
Expand All @@ -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.
*
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1 change: 0 additions & 1 deletion managed_transform_buffer/src/managed_transform_buffer.cpp
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Expand Up @@ -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);
}

Expand Down
19 changes: 9 additions & 10 deletions managed_transform_buffer/src/managed_transform_buffer_provider.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
Expand Down Expand Up @@ -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) {
Expand All @@ -207,7 +206,7 @@ std::optional<TransformStamped> ManagedTransformBufferProvider::lookupTransform(

TraverseResult ManagedTransformBufferProvider::traverseTree(
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⚠️ readability-function-cognitive-complexity ⚠️
function traverseTree has cognitive complexity of 34 (threshold 25)

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};

Expand Down Expand Up @@ -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);
}
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