Change the signature of ConvexHullProjectionConstraint::projectAlongD…

…irection() and ConvexHullProjectionConstraint::setProjectionAlongDirection() methods
robotology · Feb 4, 2021 · 5a57812 · 5a57812
1 parent e4e8f74
commit 5a57812
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/inverse-kinematics/include/iDynTree/ConvexHullHelpers.h b/src/inverse-kinematics/include/iDynTree/ConvexHullHelpers.h
@@ -238,7 +238,7 @@ namespace iDynTree
          *
          * @param direction     vector along which we want to project a point
          */
-        void setProjectionAlongDirection(Vector3 direction);
+        void setProjectionAlongDirection(const iDynTree::Vector3& direction);
 
         /*!
          * Project a point along a direction defined by the projection matrix 'Pdirection'
@@ -247,7 +247,7 @@ namespace iDynTree
          *
          * @param posIn3dInAbsoluteFrame     a point we want to project
          */
-        Vector2 projectAlongDirection(iDynTree::Position& posIn3dInAbsoluteFrame);
+        Vector2 projectAlongDirection(const iDynTree::Position& posIn3dInAbsoluteFrame);
 
     };
 }

diff --git a/src/inverse-kinematics/src/ConvexHullHelpers.cpp b/src/inverse-kinematics/src/ConvexHullHelpers.cpp
@@ -351,7 +351,7 @@ namespace iDynTree
         return margin;
     }
 
-    void ConvexHullProjectionConstraint::setProjectionAlongDirection(Vector3 direction)
+    void ConvexHullProjectionConstraint::setProjectionAlongDirection(const Vector3& direction)
     {
         Vector3 xProjection, yProjection;
 
@@ -371,7 +371,7 @@ namespace iDynTree
 
     }
 
-    Vector2 ConvexHullProjectionConstraint::projectAlongDirection(iDynTree::Position& posIn3dInAbsoluteFrame)
+    Vector2 ConvexHullProjectionConstraint::projectAlongDirection(const iDynTree::Position& posIn3dInAbsoluteFrame)
     {
         iDynTree::Vector2 projected;
         toEigen(projected) = toEigen(Pdirection) * toEigen(posIn3dInAbsoluteFrame - o);