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Explicit assignment operators for Observation, default assignment is a bug here #2413

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merged 3 commits into from
Jun 28, 2021
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Explicit assignment operators for Observation, default assignment is a bug here #2413

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ac1516d
Explicit assignment operators for Observation
topin89 Jun 17, 2021
ca41828
uncrustified and removed not bug-related stuff
topin89 Jun 20, 2021
8cf1392
style fix
topin89 Jun 23, 2021
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15 changes: 12 additions & 3 deletions nav2_costmap_2d/include/nav2_costmap_2d/observation.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,9 +60,18 @@ class Observation
}

/**
* @brief Explicitly define copy assignment operator for Observation as it has a user-declared destructor
*/
Observation & operator=(const Observation &) = default;
* @brief Copy assignment operator
* @param obs The observation to copy
*/
Observation & operator=(const Observation & obs)
{
origin_ = obs.origin_;
cloud_ = new sensor_msgs::msg::PointCloud2(*(obs.cloud_));
obstacle_range_ = obs.obstacle_range_;
raytrace_range_ = obs.raytrace_range_;

return *this;
}

/**
* @brief Creates an observation from an origin point and a point cloud
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