Revert ABI breaking changes

grid_map_core/include/grid_map_core/BufferRegion.hpp

@@ -36,7 +36,9 @@ class BufferRegion
   constexpr static unsigned int nQuadrants = 4;
 
   BufferRegion();
-  BufferRegion(Index startIndex, Size size, BufferRegion::Quadrant quadrant);
+  BufferRegion(
+    const Index & startIndex, const Size & size,
+    const BufferRegion::Quadrant & quadrant);
   virtual ~BufferRegion() = default;
 
   const Index & getStartIndex() const;

grid_map_core/include/grid_map_core/CubicInterpolation.hpp

@@ -50,7 +50,7 @@ using FunctionValueMatrix = Eigen::Matrix4d;
  * @param[in] nElem - number of elements in the container
  * @return index that is within [0, nElem-1].
  */
-unsigned int bindIndexToRange(unsigned int idReq, unsigned int nElem);
+unsigned int bindIndexToRange(int idReq, unsigned int nElem);
 
 
 /*!

grid_map_core/include/grid_map_core/TypeDefs.hpp

@@ -15,16 +15,16 @@
 namespace grid_map
 {
 
-using Matrix = Eigen::MatrixXf;
-using DataType = Matrix::Scalar;
-using Position = Eigen::Vector2d;
-using Vector = Eigen::Vector2d;
-using Position3 = Eigen::Vector3d;
-using Vector3 = Eigen::Vector3d;
-using Index = Eigen::Array2i;
-using Size = Eigen::Array2i;
-using Length = Eigen::Array2d;
-using Time = uint64_t;
+typedef Eigen::MatrixXf Matrix;
+typedef Matrix::Scalar DataType;
+typedef Eigen::Vector2d Position;
+typedef Eigen::Vector2d Vector;
+typedef Eigen::Vector3d Position3;
+typedef Eigen::Vector3d Vector3;
+typedef Eigen::Array2i Index;
+typedef Eigen::Array2i Size;
+typedef Eigen::Array2d Length;
+typedef uint64_t Time;
 
 /*
  * Interpolations are ordered in the order

grid_map_core/include/grid_map_core/iterators/CircleIterator.hpp

@@ -30,7 +30,7 @@ class CircleIterator
    * @param center the position of the circle center.
    * @param radius the radius of the circle.
    */
-  CircleIterator(const GridMap & gridMap, const Position & center, double radius);
+  CircleIterator(const GridMap & gridMap, const Position & center, const double radius);
 
   /*!
    * Assignment operator.

grid_map_core/include/grid_map_core/iterators/EllipseIterator.hpp

@@ -33,7 +33,7 @@ class EllipseIterator
    */
   EllipseIterator(
     const GridMap & gridMap, const Position & center, const Length & length,
-    double rotation = 0.0);
+    const double rotation = 0.0);
 
   /*!
    * Assignment operator.
@@ -88,7 +88,7 @@ class EllipseIterator
    * @param[out] bufferSize the buffer size of the submap.
    */
   void findSubmapParameters(
-    const Position & center, const Length & length, double rotation,
+    const Position & center, const Length & length, const double rotation,
     Index & startIndex, Size & bufferSize) const;
 
   //! Position of the circle center;

grid_map_core/src/BufferRegion.cpp

@@ -18,11 +18,11 @@ BufferRegion::BufferRegion()
 }
 
 BufferRegion::BufferRegion(
-  Index index, Size size,
-  BufferRegion::Quadrant quadrant)
-: startIndex_(std::move(index)),
-  size_(std::move(size)),
-  quadrant_(std::move(quadrant))
+  const Index & index, const Size & size,
+  const BufferRegion::Quadrant & quadrant)
+: startIndex_(index),
+  size_(size),
+  quadrant_(quadrant)
 {
 }
 

grid_map_core/src/CubicInterpolation.cpp

@@ -15,15 +15,18 @@
 namespace grid_map
 {
 
-unsigned int bindIndexToRange(unsigned int idReq, unsigned int nElem)
+unsigned int bindIndexToRange(int idReq, unsigned int nElem)
 {
-  if (idReq >= nElem) {
-    return nElem - 1;
+  if (idReq < 0) {
+    return 0;
   }
-  return idReq;
+  if ((unsigned)idReq >= nElem) {
+    return static_cast<unsigned int>(nElem - 1);
+  }
+  return static_cast<unsigned int>(idReq);
 }
 
-double getLayerValue(const Matrix & layerMat, unsigned int rowReq, unsigned int colReq)
+double getLayerValue(const Matrix & layerMat, int rowReq, int colReq)
 {
   const auto numCol = layerMat.cols();
   const auto numRow = layerMat.rows();
@@ -93,7 +96,7 @@ bool assembleFunctionValueMatrix(
   }
 
   const Matrix & layerMatrix = gridMap.get(layer);
-  auto f = [&layerMatrix](unsigned int rowReq, unsigned int colReq) {
+  auto f = [&layerMatrix](int rowReq, int colReq) {
       double retVal = getLayerValue(layerMatrix, rowReq, colReq);
       return retVal;
     };
@@ -298,8 +301,8 @@ bool getFunctionValues(const Matrix & layerData, const IndicesMatrix & indices,
 
 void bindIndicesToRange(const GridMap & gridMap, IndicesMatrix * indices)
 {
-  const unsigned int numCol = gridMap.getSize().y();
-  const unsigned int numRow = gridMap.getSize().x();
+  const int numCol = gridMap.getSize().y();
+  const int numRow = gridMap.getSize().x();
 
   // top left
   {
@@ -349,11 +352,10 @@ double firstOrderDerivativeAt(
   const Matrix & layerData, const Index & index, Dim2D dim,
   double resolution)
 {
-  const auto numCol{static_cast<unsigned int>(layerData.cols())};
-  const auto numRow{static_cast<unsigned int>(layerData.rows())};
+  const int numCol = layerData.cols();
+  const int numRow = layerData.rows();
 
-  double left;
-  double right;
+  double left, right;
   switch (dim) {
     case Dim2D::X: {
         left = layerData(bindIndexToRange(index.x() + 1, numRow), index.y());
@@ -386,8 +388,8 @@ double mixedSecondOrderDerivativeAt(
    * the order doesn't matter. Derivative values are the same.
    * Taken from https://www.mathematik.uni-dortmund.de/~kuzmin/cfdintro/lecture4.pdf
    */
-  const auto numCol{static_cast<unsigned int>(layerData.cols())};
-  const auto numRow{static_cast<unsigned int>(layerData.rows())};
+  const int numCol = layerData.cols();
+  const int numRow = layerData.rows();
 
   const double f11 = layerData(
     bindIndexToRange(index.x() - 1, numRow),

grid_map_core/test/EigenPluginsTest.cpp

@@ -75,8 +75,7 @@ TEST(EigenMatrixBaseAddons, minCoeffOfFinites)
   double min = matrix.minCoeff();
   EXPECT_NEAR(min, matrix.minCoeffOfFinites(), 1e-10);
 
-  int i;
-  int j;
+  int i, j;
   matrix.maxCoeff(&i, &j);
   matrix(i, j) = NAN;
   EXPECT_NEAR(min, matrix.minCoeffOfFinites(), 1e-10);
@@ -94,8 +93,7 @@ TEST(EigenMatrixBaseAddons, maxCoeffOfFinites)
   double max = matrix.maxCoeff();
   EXPECT_NEAR(max, matrix.maxCoeffOfFinites(), 1e-10);
 
-  int i;
-  int j;
+  int i, j;
   matrix.minCoeff(&i, &j);
   matrix(i, j) = NAN;
   EXPECT_NEAR(max, matrix.maxCoeffOfFinites(), 1e-10);