Update getTimestamp and getFramId to not return const references (ros…

…-perception#14) * Remove return of std::move from fromMsg for Time. Windows VC++ was complaining that we were returning a pointer to a temporary. To avoid this, don't return a pointer, and just construct and return an object, which C++11 should be able to elide the copy for (see http://stackoverflow.com/questions/14856344/when-should-stdmove-be-used-on-a-function-return-value Signed-off-by: Chris Lalancette <[email protected]> * Fix silly typos. Signed-off-by: Chris Lalancette <[email protected]> * Make getTimestamp not return const ref * Update getTimestamp template specialisations * Make getFrameId not return const ref
ivanpauno · Apr 25, 2017 · 3ac358a · 3ac358a
1 parent 110fd71
commit 3ac358a
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Showing 3 changed files with 16 additions and 16 deletions.
diff --git a/tf2/include/tf2/convert.h b/tf2/include/tf2/convert.h
@@ -59,27 +59,27 @@ template <class T>
  * \return The timestamp associated with the data. 
  */
 template <class T>
-  const tf2::TimePoint& getTimestamp(const T& t);
+  tf2::TimePoint getTimestamp(const T& t);
 
 /**\brief Get the frame_id from data 
  * \param t The data input.
  * \return The frame_id associated with the data. 
  */
 template <class T>
-  const std::string& getFrameId(const T& t);
+  std::string getFrameId(const T& t);
 
 
 
 /* An implementation for Stamped<P> datatypes */
 template <class P>
-  const tf2::TimePoint& getTimestamp(const tf2::Stamped<P>& t)
+  tf2::TimePoint getTimestamp(const tf2::Stamped<P>& t)
   {
     return t.stamp_;
   }
 
 /* An implementation for Stamped<P> datatypes */
 template <class P>
-  const std::string& getFrameId(const tf2::Stamped<P>& t)
+  std::string getFrameId(const tf2::Stamped<P>& t)
   {
     return t.frame_id_;
   }

diff --git a/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h b/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h
@@ -70,7 +70,7 @@ KDL::Frame gmTransformToKDL(const geometry_msgs::msg::TransformStamped& t)
  */
 template <>
 inline
-  const tf2::TimePoint& getTimestamp(const geometry_msgs::msg::Vector3Stamped& t) {return tf2_ros::fromMsg(t.header.stamp);}
+  tf2::TimePoint getTimestamp(const geometry_msgs::msg::Vector3Stamped& t) {return tf2_ros::fromMsg(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Vector message.
  * This function is a specialization of the getFrameId template defined in tf2/convert.h.
@@ -79,7 +79,7 @@ inline
  */
 template <>
 inline
-  const std::string& getFrameId(const geometry_msgs::msg::Vector3Stamped& t) {return t.header.frame_id;}
+  std::string getFrameId(const geometry_msgs::msg::Vector3Stamped& t) {return t.header.frame_id;}
 
 /** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Vector type.
  * This function is a specialization of the doTransform template defined in tf2/convert.h.
@@ -134,7 +134,7 @@ void fromMsg(const geometry_msgs::msg::Vector3Stamped& msg, geometry_msgs::msg::
  */
 template <>
 inline
-  const tf2::TimePoint& getTimestamp(const geometry_msgs::msg::PointStamped& t)  {return tf2_ros::fromMsg(t.header.stamp);}
+  tf2::TimePoint getTimestamp(const geometry_msgs::msg::PointStamped& t)  {return tf2_ros::fromMsg(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Point message.
  * This function is a specialization of the getFrameId template defined in tf2/convert.h.
@@ -143,7 +143,7 @@ inline
  */
 template <>
 inline
-  const std::string& getFrameId(const geometry_msgs::msg::PointStamped& t)  {return t.header.frame_id;}
+  std::string getFrameId(const geometry_msgs::msg::PointStamped& t)  {return t.header.frame_id;}
 
 /** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Point type.
  * This function is a specialization of the doTransform template defined in tf2/convert.h.
@@ -197,7 +197,7 @@ void fromMsg(const geometry_msgs::msg::PointStamped& msg, geometry_msgs::msg::Po
  */
 template <>
 inline
-  const tf2::TimePoint& getTimestamp(const geometry_msgs::msg::PoseStamped& t)  {return tf2_ros::fromMsg(t.header.stamp);}
+  tf2::TimePoint getTimestamp(const geometry_msgs::msg::PoseStamped& t)  {return tf2_ros::fromMsg(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Pose message.
  * This function is a specialization of the getFrameId template defined in tf2/convert.h.
@@ -206,7 +206,7 @@ inline
  */
 template <>
 inline
-  const std::string& getFrameId(const geometry_msgs::msg::PoseStamped& t)  {return t.header.frame_id;}
+  std::string getFrameId(const geometry_msgs::msg::PoseStamped& t)  {return t.header.frame_id;}
 
 /** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Pose type.
  * This function is a specialization of the doTransform template defined in tf2/convert.h.
@@ -297,7 +297,7 @@ void fromMsg(const geometry_msgs::msg::Quaternion& in, tf2::Quaternion& out)
  */
 template <>
 inline
-const tf2::TimePoint& getTimestamp(const geometry_msgs::msg::QuaternionStamped& t)  {return tf2_ros::fromMsg(t.header.stamp);}
+tf2::TimePoint getTimestamp(const geometry_msgs::msg::QuaternionStamped& t)  {return tf2_ros::fromMsg(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Quaternion message.
  * This function is a specialization of the getFrameId template defined in tf2/convert.h.
@@ -306,7 +306,7 @@ const tf2::TimePoint& getTimestamp(const geometry_msgs::msg::QuaternionStamped&
  */
 template <>
 inline
-const std::string& getFrameId(const geometry_msgs::msg::QuaternionStamped& t)  {return t.header.frame_id;}
+std::string getFrameId(const geometry_msgs::msg::QuaternionStamped& t)  {return t.header.frame_id;}
 
 /** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Quaternion type.
  * This function is a specialization of the doTransform template defined in tf2/convert.h.
@@ -395,7 +395,7 @@ void fromMsg(const geometry_msgs::msg::QuaternionStamped& in, tf2::Stamped<tf2::
  */
 template <>
 inline
-const tf2::TimePoint& getTimestamp(const geometry_msgs::msg::TransformStamped& t)  {return tf2_ros::fromMsg(t.header.stamp);}
+tf2::TimePoint getTimestamp(const geometry_msgs::msg::TransformStamped& t)  {return tf2_ros::fromMsg(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Transform message.
  * This function is a specialization of the getFrameId template defined in tf2/convert.h.
@@ -404,7 +404,7 @@ const tf2::TimePoint& getTimestamp(const geometry_msgs::msg::TransformStamped& t
  */
 template <>
 inline
-const std::string& getFrameId(const geometry_msgs::msg::TransformStamped& t)  {return t.header.frame_id;}
+std::string getFrameId(const geometry_msgs::msg::TransformStamped& t)  {return t.header.frame_id;}
 
 /** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Transform type.
  * This function is a specialization of the doTransform template defined in tf2/convert.h.

diff --git a/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h b/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h
@@ -46,12 +46,12 @@ namespace tf2
 // method to extract timestamp from object
 template <>
 inline
-const builtin_interfaces::msg::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return p.header.stamp;}
+tf2::TimePoint getTimestamp(const sensor_msgs::PointCloud2& p) {return p.header.stamp;}
 
 // method to extract frame id from object
 template <>
 inline
-const std::string& getFrameId(const sensor_msgs::PointCloud2 &p) {return p.header.frame_id;}
+std::string getFrameId(const sensor_msgs::PointCloud2 &p) {return p.header.frame_id;}
 
 // this method needs to be implemented by client library developers
 template <>