[trajoptlib] Const-qualify solution passed to callback

SleipnirGroup · Jan 4, 2025 · 8fa0d18 · 8fa0d18
1 parent 09f03d5
commit 8fa0d18
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Showing 3 changed files with 5 additions and 4 deletions.
diff --git a/trajoptlib/include/trajopt/path/Path.hpp b/trajoptlib/include/trajopt/path/Path.hpp
@@ -39,7 +39,7 @@ struct TRAJOPT_DLLEXPORT Path {
 
   /// A vector of callbacks to be called with the intermediate solution and a
   /// user-specified handle at every iteration of the solver.
-  std::vector<std::function<void(Solution& solution, int64_t handle)>>
+  std::vector<std::function<void(const Solution& solution, int64_t handle)>>
       callbacks;
 };
 

diff --git a/trajoptlib/include/trajopt/path/PathBuilder.hpp b/trajoptlib/include/trajopt/path/PathBuilder.hpp
@@ -199,7 +199,8 @@ class TRAJOPT_DLLEXPORT PathBuilder {
    *
    */
   void AddCallback(
-      const std::function<void(Solution& solution, int64_t handle)> callback) {
+      const std::function<void(const Solution& solution, int64_t handle)>
+          callback) {
     path.callbacks.push_back(callback);
   }
 

diff --git a/trajoptlib/src/RustFFI.cpp b/trajoptlib/src/RustFFI.cpp
@@ -308,7 +308,7 @@ void SwerveTrajectoryGenerator::sgmt_keep_out_circle(size_t from_index,
 
 void SwerveTrajectoryGenerator::add_callback(
     rust::Fn<void(SwerveTrajectory, int64_t)> callback) {
-  path_builder.AddCallback([=](trajopt::SwerveSolution& solution,
+  path_builder.AddCallback([=](const trajopt::SwerveSolution& solution,
                                int64_t handle) {
     trajopt::SwerveTrajectory cppTrajectory{solution};
 
@@ -638,7 +638,7 @@ void DifferentialTrajectoryGenerator::sgmt_keep_out_circle(size_t from_index,
 void DifferentialTrajectoryGenerator::add_callback(
     rust::Fn<void(DifferentialTrajectory, int64_t)> callback) {
   path_builder.AddCallback(
-      [=](trajopt::DifferentialSolution& solution, int64_t handle) {
+      [=](const trajopt::DifferentialSolution& solution, int64_t handle) {
         trajopt::DifferentialTrajectory cppTrajectory{solution};
 
         rust::Vec<DifferentialTrajectorySample> rustSamples;