Minor refactor

include/create/create.h

@@ -454,11 +454,11 @@ namespace create {
 
       /* Get the estimated position of Create based on wheel encoders.
        */
-      const create::Pose& getPose() const;
+      create::Pose getPose() const;
 
       /* Get the estimated velocity of Create based on wheel encoders.
        */
-      const create::Vel& getVel() const;
+      create::Vel getVel() const;
 
       /* Get the number of corrupt serial packets since first connecting to Create.
        */

include/create/types.h

@@ -32,10 +32,12 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_TYPES_H
 #define CREATE_TYPES_H
 
+#include <vector>
+
 namespace create {
   enum RobotModel {
     CREATE_1 = 0, // Roomba 400 series
-    CREATE_2      // Roomba 600 series 
+    CREATE_2      // Roomba 600 series
   };
 
   enum SensorPacketID {
@@ -226,7 +228,7 @@ namespace create {
     float x;
     float y;
     float yaw;
-    float covariance[9];
+    std::vector<float> covariance;
   };
 
   typedef Pose Vel;

src/create.cpp

@@ -32,10 +32,12 @@ namespace create {
     pose.x = 0;
     pose.y = 0;
     pose.yaw = 0;
+    pose.covariance = std::vector<float>(9, 0.0);
     vel.x = 0;
     vel.y = 0;
     vel.yaw = 0;
-    poseCovar = Matrix(3, 3);
+    vel.covariance = std::vector<float>(9, 0.0);
+    poseCovar = Matrix(3, 3, 0.0);
     data = boost::shared_ptr<Data>(new Data(model));
     serial = boost::make_shared<Serial>(data);
   }
@@ -871,11 +873,11 @@ namespace create {
     }
   }
 
-  const Pose& Create::getPose() const {
+  Pose Create::getPose() const {
     return pose;
   }
 
-  const Vel& Create::getVel() const {
+  Vel Create::getVel() const {
     return vel;
   }