fix(autoware_path_sampler): fix passedByValue (autowarefoundation#8216)

kobayu858 · web-flow · commit 95aef0d42181 · 2024-07-26T17:32:26.000+09:00
fix:passedByValue

Signed-off-by: kobayu858 &lt;yutaro.kobayashi@tier4.jp&gt;
diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp
@@ -140,10 +140,10 @@ size_t findEgoSegmentIndex(
 }
 
 std::vector<TrajectoryPoint> resampleTrajectoryPoints(
-  const std::vector<TrajectoryPoint> traj_points, const double interval);
+  const std::vector<TrajectoryPoint> & traj_points, const double interval);
 
 std::vector<TrajectoryPoint> resampleTrajectoryPointsWithoutStopPoint(
-  const std::vector<TrajectoryPoint> traj_points, const double interval);
+  const std::vector<TrajectoryPoint> & traj_points, const double interval);
 
 template <typename T>
 std::optional<size_t> updateFrontPointForFix(
diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp
@@ -59,7 +59,7 @@ void compensateLastPose(
 }
 
 std::vector<TrajectoryPoint> resampleTrajectoryPoints(
-  const std::vector<TrajectoryPoint> traj_points, const double interval)
+  const std::vector<TrajectoryPoint> & traj_points, const double interval)
 {
   constexpr bool enable_resampling_stop_point = true;
 
@@ -71,7 +71,7 @@ std::vector<TrajectoryPoint> resampleTrajectoryPoints(
 
 // NOTE: stop point will not be resampled
 std::vector<TrajectoryPoint> resampleTrajectoryPointsWithoutStopPoint(
-  const std::vector<TrajectoryPoint> traj_points, const double interval)
+  const std::vector<TrajectoryPoint> & traj_points, const double interval)
 {
   constexpr bool enable_resampling_stop_point = false;
 

Original file line number	Diff line number	Diff line change
`@@ -59,7 +59,7 @@ void compensateLastPose(`
`59`	`59`	`}`
`60`	`60`
`61`	`61`	`std::vector<TrajectoryPoint> resampleTrajectoryPoints(`
`62`		`- const std::vector<TrajectoryPoint> traj_points, const double interval)`
	`62`	`+ const std::vector<TrajectoryPoint> & traj_points, const double interval)`
`63`	`63`	`{`
`64`	`64`	`constexpr bool enable_resampling_stop_point = true;`
`65`	`65`
`@@ -71,7 +71,7 @@ std::vector<TrajectoryPoint> resampleTrajectoryPoints(`
`71`	`71`
`72`	`72`	`// NOTE: stop point will not be resampled`
`73`	`73`	`std::vector<TrajectoryPoint> resampleTrajectoryPointsWithoutStopPoint(`
`74`		`- const std::vector<TrajectoryPoint> traj_points, const double interval)`
	`74`	`+ const std::vector<TrajectoryPoint> & traj_points, const double interval)`
`75`	`75`	`{`
`76`	`76`	`constexpr bool enable_resampling_stop_point = false;`
`77`	`77`