-

modules/catkin_ws/src/car/include/lanekeeping/Lanekeeping.h

@@ -9,21 +9,25 @@
 
 namespace car
 {
-	class Lanekeeping : public nodelet::Nodelet
-	{
-		public:
-			virtual void onInit();
-			Lanekeeping(ros::NodeHandle &nh, std::string &name);
-			Lanekeeping();
-			~Lanekeeping();
-		private:
-			ros::NodeHandle nh_;
-			std::string name_;
-      
-			ros::Publisher laneData;
-      ros::Subscriber camData;
-
-      void camDataCallback(const camDataMsg::ConstPtr& inMsg);
-	};
+class Lanekeeping : public nodelet::Nodelet
+{
+public:
+    virtual void onInit();
+
+    Lanekeeping(ros::NodeHandle & nh, std::string & name);
+
+    Lanekeeping();
+
+    ~Lanekeeping();
+
+private:
+    ros::NodeHandle nh_;
+    std::string name_;
+
+    ros::Publisher laneData;
+    ros::Subscriber camData;
+
+    void camDataCallback(const camDataMsg::ConstPtr & inMsg);
+};
 }
 #endif

modules/catkin_ws/src/car/include/mavLink/MavLink.h

@@ -42,9 +42,9 @@ private:
 
     void onStmDataReceived();
 
-    float convertSpeedToStm(float speed);
+    float convertSpeedToStm(float speed) const;
 
-    float convertSpeedFromStm(float speed);
+    float convertSpeedFromStm(float speed) const;
 
     networking::Networking net;
     veloxProtocol::Connection::Ptr veloxConnection;

modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp

@@ -10,27 +10,28 @@ PLUGINLIB_EXPORT_CLASS(car::Lanekeeping, nodelet::Nodelet);
 
 namespace car
 {
-	Lanekeeping::Lanekeeping(ros::NodeHandle &nh, std::string &name) :
-    nh_(nh), 
-    name_(name)
-  { }
-  
-	Lanekeeping::Lanekeeping() {}
-  
-	Lanekeeping::~Lanekeeping() {}
-  
-	void Lanekeeping::onInit()
-	{
-		NODELET_INFO("Lanekeeping::onInit -- START");
-	  laneData = nh_.advertise<laneDataMsg>("laneData", 1);
-	  camData = nh_.subscribe("camData", 1, &Lanekeeping::camDataCallback, this);
-		NODELET_INFO("Lanekeeping::onInit -- END");
-	}
-
-  void Lanekeeping::camDataCallback(const camDataMsg::ConstPtr& inMsg)
-  {
+Lanekeeping::Lanekeeping(ros::NodeHandle & nh, std::string & name) :
+    nh_(nh), name_(name)
+{}
+
+Lanekeeping::Lanekeeping()
+{}
+
+Lanekeeping::~Lanekeeping()
+{}
+
+void Lanekeeping::onInit()
+{
+    NODELET_INFO("Lanekeeping::onInit -- START");
+    laneData = nh_.advertise<laneDataMsg>("laneData", 1);
+    camData = nh_.subscribe("camData", 1, &Lanekeeping::camDataCallback, this);
+    NODELET_INFO("Lanekeeping::onInit -- END");
+}
+
+void Lanekeeping::camDataCallback(const camDataMsg::ConstPtr & inMsg)
+{
     // std::cout << "Lanekeeping recived new cam data ( ).\n";
-  }
-  
-  
+}
+
+
 }

modules/catkin_ws/src/car/src/mavLink/MavLink.cpp

@@ -65,13 +65,13 @@ void MavLink::onStmDataReceived()
     stmData.publish(msg);
 }
 
-float MavLink::convertSpeedToStm(float speed)
+float MavLink::convertSpeedToStm(float speed) const
 {
     // TODO: convert speed!
     return speed;
 }
 
-float MavLink::convertSpeedFromStm(float speed)
+float MavLink::convertSpeedFromStm(float speed) const
 {
     // TODO: convert speed!
     return speed;