Cannot call non-cost methods from `predictedMeasure` of `MeasurementModel` class

[isorrentino]

Hi all,
I implemented a class that inherits from the MeasurementModel class, so I have my own implementation of the method predictedMeasure

bayes-filters-lib/src/BayesFilters/include/BayesFilters/MeasurementModel.h

Line 38 in 6dd9c39

virtual std::pair<bool, Data> predictedMeasure(const Eigen::Ref<const Eigen::MatrixXd>& cur_states) const = 0;

but I cannot call non-cost methods inside being the method predictedMeasure const.
I don't find a solution to this problem and I'm opening this issue to ask if it is possible to make the method predictedMeasure non-const, or if anyone has a different solution. Thank you.

cc @xEnVrE

[xEnVrE]

Hi @isorrentino,

thanks for pointing this out.

The original idea behind this choice is that the predictedMeasure method should evaluate, more or less like a pure function, the value of the measurement function $h(x)$ given the state $x$ without side effects.

Can you better describe the use case such that we can maybe find an alternative solution? Thank you