Add const GetObjectiveValue

Saurav Agarwal · Saurav Agarwal · commit 0d05a95c5631 · 2025-06-09T11:00:20.000-04:00
diff --git a/cppsrc/core/include/CoverageControl/coverage_system.h b/cppsrc/core/include/CoverageControl/coverage_system.h
@@ -438,7 +438,8 @@ class CoverageSystem {
     return weighted_exploration_ratio;
   }
 
-  PointVector GetRelativePositonsNeighbors(size_t const robot_id);
+  PointVector GetRelativePositonsNeighbors (size_t const robot_id) const;
+
   std::vector<int> GetNeighborIDs(size_t const robot_id) const {
     return neighbor_ids_[robot_id];
   }
@@ -513,6 +514,13 @@ class CoverageSystem {
     return communication_maps;
   }
 
+  auto GetObjectiveValueConst() const {
+    auto voronoi = Voronoi(robot_global_positions_, GetWorldMap(),
+                       Point2(params_.pWorldMapSize, params_.pWorldMapSize),
+                       params_.pResolution);
+    return voronoi.GetSumIDFSiteDistSqr();
+  }
+
   auto GetObjectiveValue() {
     ComputeVoronoiCells();
     return voronoi_.GetSumIDFSiteDistSqr();
diff --git a/cppsrc/core/src/coverage_system.cpp b/cppsrc/core/src/coverage_system.cpp
@@ -679,8 +679,8 @@ void CoverageSystem::PlotRobotCommunicationMaps(std::string const &dir_name,
   plotter_y.PlotMap(robot_communication_maps.second);
 }
 
-PointVector CoverageSystem::GetRelativePositonsNeighbors(
-    size_t const robot_id) {
+PointVector CoverageSystem::GetRelativePositonsNeighbors (
+    size_t const robot_id) const {
   return relative_positions_neighbors_[robot_id];
 }
 
diff --git a/cppsrc/python_bindings/core_binds.h b/cppsrc/python_bindings/core_binds.h
@@ -350,6 +350,7 @@ void pyCoverageControl_core_coverage_system(py::module &m) {
       .def("GetSystemMap", &CoverageSystem::GetSystemMap,
            py::return_value_policy::reference_internal)
       .def("GetObjectiveValue", &CoverageSystem::GetObjectiveValue)
+      .def("GetObjectiveValueConst", &CoverageSystem::GetObjectiveValueConst)
       .def("GetNormalizationFactor", &CoverageSystem::GetNormalizationFactor)
       .def("PlotSystemMap", py::overload_cast<std::string const &>(
                                 &CoverageSystem::PlotSystemMap, py::const_))

Original file line number	Diff line number	Diff line change
`@@ -679,8 +679,8 @@ void CoverageSystem::PlotRobotCommunicationMaps(std::string const &dir_name,`
`679`	`679`	`plotter_y.PlotMap(robot_communication_maps.second);`
`680`	`680`	`}`
`681`	`681`
`682`		`-PointVector CoverageSystem::GetRelativePositonsNeighbors(`
`683`		`- size_t const robot_id) {`
	`682`	`+PointVector CoverageSystem::GetRelativePositonsNeighbors (`
	`683`	`+ size_t const robot_id) const {`
`684`	`684`	`return relative_positions_neighbors_[robot_id];`
`685`	`685`	`}`
`686`	`686`