Use constref shared_ptr in restateInNewFrame

Signed-off-by: methylDragon <[email protected]>
moveit · Dec 29, 2024 · 7c2d1e6 · 7c2d1e6
1 parent 6c8215d
commit 7c2d1e6
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/moveit_ros/trajectory_cache/include/moveit/trajectory_cache/utils/utils.hpp b/moveit_ros/trajectory_cache/include/moveit/trajectory_cache/utils/utils.hpp
@@ -68,8 +68,9 @@ std::string getCartesianPathRequestFrameId(const moveit::planning_interface::Mov
  * @returns MoveItErrorCode::SUCCESS if successfully restated. Otherwise, will return return
  * MoveItErrorCode::FRAME_TRANSFORM_FAILURE if the transform could not be retrieved.
  */
-moveit::core::MoveItErrorCode restateInNewFrame(std::shared_ptr<tf2_ros::Buffer> tf, const std::string& target_frame,
-                                                const std::string& source_frame, geometry_msgs::msg::Point* translation,
+moveit::core::MoveItErrorCode restateInNewFrame(const std::shared_ptr<tf2_ros::Buffer>& tf,
+                                                const std::string& target_frame, const std::string& source_frame,
+                                                geometry_msgs::msg::Point* translation,
                                                 geometry_msgs::msg::Quaternion* rotation,
                                                 const tf2::TimePoint& lookup_time = tf2::TimePointZero);
 

diff --git a/moveit_ros/trajectory_cache/src/utils/utils.cpp b/moveit_ros/trajectory_cache/src/utils/utils.cpp
@@ -85,7 +85,7 @@ std::string getCartesianPathRequestFrameId(const MoveGroupInterface& move_group,
   }
 }
 
-MoveItErrorCode restateInNewFrame(std::shared_ptr<tf2_ros::Buffer> tf, const std::string& target_frame,
+MoveItErrorCode restateInNewFrame(const std::shared_ptr<tf2_ros::Buffer>& tf, const std::string& target_frame,
                                   const std::string& source_frame, geometry_msgs::msg::Point* translation,
                                   geometry_msgs::msg::Quaternion* rotation, const tf2::TimePoint& lookup_time)
 {