From 4f08cd2587f2c69d0287051950dd7a8c461a8662 Mon Sep 17 00:00:00 2001
From: HiroIshida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 5 Jun 2024 02:03:19 +0900
Subject: [PATCH] refactor: arithmatic operation must be const

---
 urdf_parser/include/urdf_model/pose.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/urdf_parser/include/urdf_model/pose.h b/urdf_parser/include/urdf_model/pose.h
index ae62525..691a96e 100644
--- a/urdf_parser/include/urdf_model/pose.h
+++ b/urdf_parser/include/urdf_model/pose.h
@@ -97,17 +97,17 @@ class Vector3
     this->z *= -1;
   }
 
-  Vector3 operator+(const Vector3& vec)
+  Vector3 operator+(const Vector3& vec) const
   {
     return Vector3(this->x+vec.x,this->y+vec.y,this->z+vec.z);
   };
 
-  Vector3 operator-(const Vector3& vec)
+  Vector3 operator-(const Vector3& vec) const
   {
     return Vector3(this->x-vec.x,this->y-vec.y,this->z-vec.z);
   };
 
-  Vector3 operator/(double deno)
+  Vector3 operator/(double deno) const
   {
     return Vector3(this->x/deno,this->y/deno,this->z/deno);
   };
@@ -298,7 +298,7 @@ class Rotation
     return q;
   };
 
-  Rotation inverse(){
+  Rotation inverse() const{
     double norm = this->w*this->w+this->x*this->x+this->y*this->y+this->z*this->z;
     return Rotation(-x/norm, -y/norm, -z/norm, w/norm);
   }
@@ -332,7 +332,7 @@ class Pose
     this->position = this->rotation * this->position;
   }
 
-  Pose inverse(){
+  Pose inverse() const{
     Pose pose_out = *this;
     pose_out.inverse_inplace();
     return pose_out;