Replace const with constexpr

Signed-off-by: Kacper Dąbrowski <[email protected]>

Author: knicked

ros2_ws/src/robotic_manipulation/src/arm_controller.cpp

@@ -66,7 +66,7 @@ bool ArmController::MoveThroughWaypoints(
     std::vector<geometry_msgs::msg::Pose> const &waypoints) {
   auto logger = m_node->get_logger();
 
-  int const NumTries = 10;
+  int constexpr NumTries = 10;
   for (int i = 0; i < NumTries; i++) {
     moveit_msgs::msg::RobotTrajectory trajectory;
     if (m_pandaArm->computeCartesianPath(waypoints, 0.01, 0.0, trajectory) ==

ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp

@@ -81,9 +81,9 @@ void RaiManipulationInterfaceNode::Initialize(ArmController &arm) {
           auto currentPose = arm.GetEffectorPose();
           auto aboveCurrent = currentPose;
           auto calculateZAboveTarget = [&](double targetZ) {
-            double const MinimumZ = 0.3;
-            double const MaximumZ = 0.4;
-            double const ZOffset = 0.1;
+            double constexpr MinimumZ = 0.3;
+            double constexpr MaximumZ = 0.4;
+            double constexpr ZOffset = 0.1;
 
             return min(MaximumZ, max(targetZ + ZOffset, MinimumZ));
           };