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EllipsoidShape: use const references in API #521

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Jul 24, 2023
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EllipsoidShape: use const references in API #521

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2 changes: 1 addition & 1 deletion bullet-featherstone/src/ShapeFeatures.cc
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Expand Up @@ -303,7 +303,7 @@ Vector3d ShapeFeatures::GetEllipsoidShapeRadii(
Identity ShapeFeatures::AttachEllipsoidShape(
const Identity &_linkID,
const std::string &_name,
const Vector3d _radii,
const Vector3d &_radii,
const Pose3d &_pose)
{
btVector3 positions[1];
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2 changes: 1 addition & 1 deletion bullet-featherstone/src/ShapeFeatures.hh
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Expand Up @@ -117,7 +117,7 @@ class ShapeFeatures :
public: Identity AttachEllipsoidShape(
const Identity &_linkID,
const std::string &_name,
const Vector3d _radii,
const Vector3d &_radii,
const Pose3d &_pose) override;

// ----- Sphere Features -----
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2 changes: 1 addition & 1 deletion dartsim/src/ShapeFeatures.cc
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Expand Up @@ -252,7 +252,7 @@ Vector3d ShapeFeatures::GetEllipsoidShapeRadii(
Identity ShapeFeatures::AttachEllipsoidShape(
const Identity &_linkID,
const std::string &_name,
const Vector3d _radii,
const Vector3d &_radii,
const Pose3d &_pose)
{
common::MeshManager *meshMgr = common::MeshManager::Instance();
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2 changes: 1 addition & 1 deletion dartsim/src/ShapeFeatures.hh
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Expand Up @@ -148,7 +148,7 @@ class ShapeFeatures :
public: Identity AttachEllipsoidShape(
const Identity &_linkID,
const std::string &_name,
const Vector3d _radii,
const Vector3d &_radii,
const Pose3d &_pose) override;

// ----- Sphere Features -----
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8 changes: 4 additions & 4 deletions include/gz/physics/EllipsoidShape.hh
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Expand Up @@ -69,7 +69,7 @@ namespace gz
/// \brief Set the radius of this EllipsoidShape
/// \param[in] _radii
/// The desired radius of this EllipsoidShape
public: void SetRadii(Dimensions _radii);
public: void SetRadii(const Dimensions &_radii);
};

public: template <typename PolicyT>
Expand All @@ -79,7 +79,7 @@ namespace gz
typename FromPolicy<PolicyT>::template Use<LinearVector>;

public: virtual void SetEllipsoidShapeRadii(
const Identity &_ellipsoidID, Dimensions _radii) = 0;
const Identity &_ellipsoidID, const Dimensions &_radii) = 0;
};
};

Expand Down Expand Up @@ -109,7 +109,7 @@ namespace gz
/// \returns a ShapePtrType to the newly constructed EllipsoidShape
public: ShapePtrType AttachEllipsoidShape(
const std::string &_name = "ellipsoid",
Dimensions _radii = Dimensions::Constant(1.0),
const Dimensions &_radii = Dimensions::Constant(1.0),
const PoseType &_pose = PoseType::Identity());
};

Expand All @@ -125,7 +125,7 @@ namespace gz
public: virtual Identity AttachEllipsoidShape(
const Identity &_linkID,
const std::string &_name,
Dimensions _radii,
const Dimensions &_radii,
const PoseType &_pose) = 0;
};
};
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4 changes: 2 additions & 2 deletions include/gz/physics/detail/EllipsoidShape.hh
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Expand Up @@ -37,7 +37,7 @@ namespace gz
/////////////////////////////////////////////////
template <typename PolicyT, typename FeaturesT>
void SetEllipsoidShapeProperties::EllipsoidShape<PolicyT, FeaturesT>
::SetRadii(Dimensions _radii)
::SetRadii(const Dimensions &_radii)
{
this->template Interface<SetEllipsoidShapeProperties>()
->SetEllipsoidShapeRadii(this->identity, _radii);
Expand All @@ -48,7 +48,7 @@ namespace gz
auto AttachEllipsoidShapeFeature::Link<PolicyT, FeaturesT>
::AttachEllipsoidShape(
const std::string &_name,
Dimensions _radii,
const Dimensions &_radii,
const PoseType &_pose) -> ShapePtrType
{
return ShapePtrType(this->pimpl,
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2 changes: 1 addition & 1 deletion tpe/plugin/src/ShapeFeatures.cc
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Expand Up @@ -272,7 +272,7 @@ Vector3d ShapeFeatures::GetEllipsoidShapeRadii(
Identity ShapeFeatures::AttachEllipsoidShape(
const Identity &_linkID,
const std::string &_name,
Vector3d _radii,
const Vector3d &_radii,
const Pose3d &_pose)
{
auto it = this->links.find(_linkID);
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2 changes: 1 addition & 1 deletion tpe/plugin/src/ShapeFeatures.hh
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Expand Up @@ -116,7 +116,7 @@ class ShapeFeatures :
public: Identity AttachEllipsoidShape(
const Identity &_linkID,
const std::string &_name,
Vector3d _radii,
const Vector3d &_radii,
const Pose3d &_pose) override;

// ----- Sphere Features -----
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