diff --git a/include/bodydynamics/capture/capture_force_torque_preint.h b/include/bodydynamics/capture/capture_force_torque_preint.h
index 3436b5b8acb4b8a6bbea631c46e2b93b8aceaea2..832329c321d0a9ebfc0fbd6b0cf4a2659ed573bc 100644
--- a/include/bodydynamics/capture/capture_force_torque_preint.h
+++ b/include/bodydynamics/capture/capture_force_torque_preint.h
@@ -39,7 +39,7 @@ class CaptureForceTorquePreint : public CaptureMotion
const Eigen::MatrixXd& _data_cov,
CaptureBasePtr _capture_origin_ptr = nullptr);
- virtual ~CaptureForceTorquePreint();
+ ~CaptureForceTorquePreint() override;
CaptureBasePtr getIkinCaptureOther(){ return cap_ikin_other_; }
CaptureBasePtr getGyroCaptureOther(){ return cap_gyro_other_;}
diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h
index 437e7baa01f794e4650f71ac077513e77a44cfd9..012a19c6c77dc23e16074cf2e7896ba439d31cf1 100644
--- a/include/bodydynamics/capture/capture_inertial_kinematics.h
+++ b/include/bodydynamics/capture/capture_inertial_kinematics.h
@@ -27,7 +27,7 @@ class CaptureInertialKinematics : public CaptureBase
const Eigen::Matrix3d & _B_I_q, // Centroidal inertia matrix expressed in body frame
const Eigen::Vector3d & _B_Lc_m); // Centroidal angular momentum expressed in body frame
- virtual ~CaptureInertialKinematics();
+ ~CaptureInertialKinematics() override;
const Eigen::Vector9d& getData() {return data_;}
const Eigen::Matrix3d& getBIq() {return B_I_q_;}
diff --git a/include/bodydynamics/capture/capture_leg_odom.h b/include/bodydynamics/capture/capture_leg_odom.h
index 229251a68c4e48301a54186dcad878166c3f0099..5a29b0cf06399f2bb86f2fdc8bd24d88d967c814 100644
--- a/include/bodydynamics/capture/capture_leg_odom.h
+++ b/include/bodydynamics/capture/capture_leg_odom.h
@@ -30,7 +30,7 @@ class CaptureLegOdom : public CaptureMotion
const Eigen::Matrix6d& _data_cov, // for the moment only 6x6 mat, see if more involved computations are necessary (contact confidence...)
double dt);
- virtual ~CaptureLegOdom();
+ ~CaptureLegOdom() override;
private:
Eigen::MatrixXd data_kin_;
diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h
index cc64c684f6d68e24d9bdffc3303b7f3fe329f17d..a9ee309013ece4ae91883318d49b83b4243af4f6 100644
--- a/include/bodydynamics/factor/factor_force_torque.h
+++ b/include/bodydynamics/factor/factor_force_torque.h
@@ -34,9 +34,9 @@ class FactorForceTorque : public FactorAutodiff<FactorForceTorque, 9, 3,3,3, 3,3
bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE);
- virtual ~FactorForceTorque() { /* nothing */ }
+ ~FactorForceTorque() override { /* nothing */ }
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("GEOM");
}
diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h
index c1c193692526129966c8d6eac3c586111e7b7603..99fb9e3610cccd1d62c64b5928fbb34c114eb6ce 100644
--- a/include/bodydynamics/factor/factor_force_torque_preint.h
+++ b/include/bodydynamics/factor/factor_force_torque_preint.h
@@ -26,9 +26,9 @@ class FactorForceTorquePreint : public FactorAutodiff<FactorForceTorquePreint, 1
bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE);
- virtual ~FactorForceTorquePreint() = default;
+ ~FactorForceTorquePreint() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("MOTION");
}
diff --git a/include/bodydynamics/factor/factor_inertial_kinematics.h b/include/bodydynamics/factor/factor_inertial_kinematics.h
index f39e0f7d160942e5df2f9c2c427fe0ece39789b8..cf3662361fdd33e23b1ef0c406e06972010609a4 100644
--- a/include/bodydynamics/factor/factor_inertial_kinematics.h
+++ b/include/bodydynamics/factor/factor_inertial_kinematics.h
@@ -25,9 +25,9 @@ class FactorInertialKinematics : public FactorAutodiff<FactorInertialKinematics,
bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE);
- virtual ~FactorInertialKinematics() { /* nothing */ }
+ ~FactorInertialKinematics() override { /* nothing */ }
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("GEOM");
}
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index 852737af4bb38810391205c7e6a3e03682f85aa4..75318166d754bafa5240a618681210fd192378b9 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -27,7 +27,7 @@ class FeatureForceTorque : public FeatureBase
const Eigen::Matrix<double,14,14>& _cov_kin_meas = Eigen::Matrix<double,14,14>::Zero()
);
- virtual ~FeatureForceTorque();
+ ~FeatureForceTorque() override;
const double & getDt(){return dt_;}
const double & getMass(){return mass_;}
diff --git a/include/bodydynamics/feature/feature_force_torque_preint.h b/include/bodydynamics/feature/feature_force_torque_preint.h
index 6ec228c578bc5a656e609fc3c839fa436029fb5b..ffdcbd0e5c25b90438ef0204d9f4ec299f705cd4 100644
--- a/include/bodydynamics/feature/feature_force_torque_preint.h
+++ b/include/bodydynamics/feature/feature_force_torque_preint.h
@@ -36,7 +36,7 @@ class FeatureForceTorquePreint : public FeatureBase
// */
// FeatureForceTorquePreint(CaptureMotionPtr _cap_imu_ptr);
- virtual ~FeatureForceTorquePreint() = default;
+ ~FeatureForceTorquePreint() override = default;
const Eigen::Vector3d& getPbcBiasPreint() const;
const Eigen::Vector3d& getGyroBiasPreint() const;
diff --git a/include/bodydynamics/feature/feature_inertial_kinematics.h b/include/bodydynamics/feature/feature_inertial_kinematics.h
index 1dde0ee0f1355d24bee7729d5854cc9ac0326c14..bc281bdb3376e7c06751a26c6b853afbeff68405 100644
--- a/include/bodydynamics/feature/feature_inertial_kinematics.h
+++ b/include/bodydynamics/feature/feature_inertial_kinematics.h
@@ -19,7 +19,7 @@ class FeatureInertialKinematics : public FeatureBase
const Eigen::Matrix3d & _B_I_q, // Centroidal inertia matrix expressed in body frame
const Eigen::Vector3d & _B_Lc_m, // Centroidal angular momentum expressed in body frame
UncertaintyType _uncertainty_type = UNCERTAINTY_IS_COVARIANCE);
- virtual ~FeatureInertialKinematics() = default;
+ ~FeatureInertialKinematics() override = default;
const Eigen::Matrix3d & getBIq(){return BIq_;}
diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index c455c6d893b1419daba15a65921da84136f7e4d3..70067c541a26912ffbecfb26645aa5639641adac 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_preint.h
@@ -19,7 +19,7 @@ struct ParamsProcessorForceTorquePreint : public ParamsProcessorMotion
sensor_ikin_name = _server.getParam<std::string>(_unique_name + "/sensor_ikin_name");
sensor_angvel_name = _server.getParam<std::string>(_unique_name + "/sensor_angvel_name");
}
- virtual ~ParamsProcessorForceTorquePreint() = default;
+ ~ParamsProcessorForceTorquePreint() override = default;
std::string print() const
{
return "\n" + ParamsProcessorMotion::print() + "\n"
@@ -35,41 +35,41 @@ WOLF_PTR_TYPEDEFS(ProcessorForceTorquePreint);
class ProcessorForceTorquePreint : public ProcessorMotion{
public:
ProcessorForceTorquePreint(ParamsProcessorForceTorquePreintPtr _params_motion_force_torque_preint);
- virtual ~ProcessorForceTorquePreint();
- virtual void configure(SensorBasePtr _sensor) override;
+ ~ProcessorForceTorquePreint() override;
+ void configure(SensorBasePtr _sensor) override;
WOLF_PROCESSOR_CREATE(ProcessorForceTorquePreint, ParamsProcessorForceTorquePreint);
protected:
- virtual void computeCurrentDelta(const Eigen::VectorXd& _data,
+ void computeCurrentDelta(const Eigen::VectorXd& _data,
const Eigen::MatrixXd& _data_cov,
const Eigen::VectorXd& _calib,
const double _dt,
Eigen::VectorXd& _delta,
Eigen::MatrixXd& _delta_cov,
Eigen::MatrixXd& _jacobian_calib) const override;
- virtual void deltaPlusDelta(const Eigen::VectorXd& _delta_preint,
+ void deltaPlusDelta(const Eigen::VectorXd& _delta_preint,
const Eigen::VectorXd& _delta,
const double _dt,
Eigen::VectorXd& _delta_preint_plus_delta) const override;
- virtual void deltaPlusDelta(const Eigen::VectorXd& _delta_preint,
+ void deltaPlusDelta(const Eigen::VectorXd& _delta_preint,
const Eigen::VectorXd& _delta,
const double _dt,
Eigen::VectorXd& _delta_preint_plus_delta,
Eigen::MatrixXd& _jacobian_delta_preint,
Eigen::MatrixXd& _jacobian_delta) const override;
- virtual void statePlusDelta(const VectorComposite& _x,
+ void statePlusDelta(const VectorComposite& _x,
const Eigen::VectorXd& _delta,
const double _dt,
VectorComposite& _x_plus_delta ) const override;
- virtual Eigen::VectorXd deltaZero() const override;
- virtual Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
+ Eigen::VectorXd deltaZero() const override;
+ Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
const Eigen::VectorXd& delta_step) const override;
- virtual VectorXd getCalibration (const CaptureBasePtr _capture) const override;
- virtual void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
+ VectorXd getCalibration (const CaptureBasePtr _capture) const override;
+ void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
- virtual bool voteForKeyFrame() const override;
- virtual CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ bool voteForKeyFrame() const override;
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
const SensorBasePtr& _sensor,
const TimeStamp& _ts,
const VectorXd& _data,
@@ -77,8 +77,8 @@ class ProcessorForceTorquePreint : public ProcessorMotion{
const VectorXd& _calib,
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin) override;
- virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
+ FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
+ FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
CaptureBasePtr _capture_origin) override;
protected:
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index 5d0a1112b930ec943c3acfc4c65205726b1ba6f5..344f83bbc8302df3728d56fd416cdb84e4ad860d 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -22,7 +22,7 @@ struct ParamsProcessorInertialKinematics : public ParamsProcessorBase
sensor_angvel_name = _server.getParam<std::string>(_unique_name + "/sensor_angvel_name");
std_bp_drift = _server.getParam<double>(_unique_name + "/std_bp_drift");
}
- virtual ~ParamsProcessorInertialKinematics() = default;
+ ~ParamsProcessorInertialKinematics() override = default;
std::string print() const
{
return "\n" + ParamsProcessorBase::print() + "\n"
@@ -37,20 +37,20 @@ WOLF_PTR_TYPEDEFS(ProcessorInertialKinematics);
class ProcessorInertialKinematics : public ProcessorBase{
public:
ProcessorInertialKinematics(ParamsProcessorInertialKinematicsPtr _params_ikin);
- virtual ~ProcessorInertialKinematics() = default;
+ ~ProcessorInertialKinematics() override = default;
WOLF_PROCESSOR_CREATE(ProcessorInertialKinematics, ParamsProcessorInertialKinematics);
- virtual void configure(SensorBasePtr _sensor) override;
+ void configure(SensorBasePtr _sensor) override;
bool createInertialKinematicsFactor(CaptureInertialKinematicsPtr _cap_ikin, CaptureBasePtr _cap_angvel, CaptureBasePtr _cap_ikin_origin);
- virtual void processCapture(CaptureBasePtr _incoming) override;
- virtual void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override;
- virtual bool triggerInCapture(CaptureBasePtr) const override;
- virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override;
- virtual bool storeKeyFrame(FrameBasePtr) override;
- virtual bool storeCapture(CaptureBasePtr) override;
- virtual bool voteForKeyFrame() const override;
+ void processCapture(CaptureBasePtr _incoming) override;
+ void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override;
+ bool triggerInCapture(CaptureBasePtr) const override;
+ bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override;
+ bool storeKeyFrame(FrameBasePtr) override;
+ bool storeCapture(CaptureBasePtr) override;
+ bool voteForKeyFrame() const override;
protected:
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index 9f10c13b90e12fb08ffdc9905628af713344b390..af68202f47b1784fa83d5af60e5b64bf39147d8b 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -26,7 +26,7 @@ struct ParamsSensorForceTorque : public ParamsSensorBase
std_f = _server.getParam<double>(_unique_name + "/std_f");
std_tau = _server.getParam<double>(_unique_name + "/std_tau");
}
- virtual ~ParamsSensorForceTorque() = default;
+ ~ParamsSensorForceTorque() override = default;
std::string print() const
{
return "\n" + ParamsSensorBase::print() + "\n"
@@ -50,7 +50,7 @@ class SensorForceTorque : public SensorBase
public:
SensorForceTorque(const Eigen::VectorXd& _extrinsics, ParamsSensorForceTorquePtr _params);
- virtual ~SensorForceTorque() = default;
+ ~SensorForceTorque() override = default;
WOLF_SENSOR_CREATE(SensorForceTorque, ParamsSensorForceTorque, 0);
diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
index 02cf08f0aca225537babcca7400df8ece1460d96..6c59b0c625f77f67c81ff311e3d8e2616f9065de 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -24,7 +24,7 @@ struct ParamsSensorInertialKinematics : public ParamsSensorBase
std_pbc = _server.getParam<double>(_unique_name + "/std_pbc");
std_vbc = _server.getParam<double>(_unique_name + "/std_vbc");
}
- virtual ~ParamsSensorInertialKinematics() = default;
+ ~ParamsSensorInertialKinematics() override = default;
std::string print() const
{
return "\n" + ParamsSensorBase::print() + "\n"
@@ -44,7 +44,7 @@ class SensorInertialKinematics : public SensorBase
public:
SensorInertialKinematics(const Eigen::VectorXd& _extrinsics, ParamsSensorInertialKinematicsPtr _intr_ikin);
- virtual ~SensorInertialKinematics();
+ ~SensorInertialKinematics() override;
WOLF_SENSOR_CREATE(SensorInertialKinematics, ParamsSensorInertialKinematics, 0);
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index 2adf0d7300248dd368115e565f26f49b8cd128a6..5442ce97083e9790be52f0bbdbe306fd99cb9d9a 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -184,7 +184,7 @@ class FactorInertialKinematics_2KF : public testing::Test
// ProcessorImuPtr processor_imu_;
protected:
- virtual void SetUp() override
+ void SetUp() override
{
std::string bodydynamics_root = _WOLF_BODYDYNAMICS_ROOT_DIR;
@@ -323,7 +323,7 @@ class FactorInertialKinematics_2KF : public testing::Test
class FactorInertialKinematics_2KF_foot1turned : public FactorInertialKinematics_2KF
{
protected:
- virtual void SetUp() override
+ void SetUp() override
{
cout << "\n\n\nFactorInertialKinematics_2KF_foot1turned" << endl;
FactorInertialKinematics_2KF::SetUp();
@@ -344,7 +344,7 @@ class FactorInertialKinematics_2KF_foot1turned : public FactorInertialKinematics
class FactorInertialKinematics_2KF_foot2turned : public FactorInertialKinematics_2KF
{
protected:
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_2KF::SetUp();
Vector4d WqL; WqL.setRandom(); WqL.normalize(); // random unitary quaternion
@@ -362,7 +362,7 @@ class FactorInertialKinematics_2KF_foot2turned : public FactorInertialKinematics
class FactorInertialKinematics_2KF_singleContactFoot2turned : public FactorInertialKinematics_2KF
{
protected:
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_2KF::SetUp();
Vector4d WqL; WqL.setRandom(); WqL.normalize(); // random unitary quaternion
@@ -380,7 +380,7 @@ class FactorInertialKinematics_2KF_singleContactFoot2turned : public FactorInert
class FactorInertialKinematics_2KF_singleContactFoot1turned : public FactorInertialKinematics_2KF
{
protected:
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_2KF::SetUp();
Vector4d WqL; WqL.setRandom(); WqL.normalize(); // random unitary quaternion
@@ -401,7 +401,7 @@ class FactorInertialKinematics_2KF_singleContactFoot1turned : public FactorInert
class FactorInertialKinematics_2KF_ForceX : public FactorInertialKinematics_2KF
{
protected:
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_2KF::SetUp();
Vector3d f1 = -mass_*wolf::gravity()/2 + ((Vector3d()<<mass_*Acc1/2,0,0).finished());
@@ -414,7 +414,7 @@ class FactorInertialKinematics_2KF_ForceX : public FactorInertialKinematics_2KF
class FactorInertialKinematics_2KF_ForceY : public FactorInertialKinematics_2KF
{
protected:
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_2KF::SetUp();
Vector3d f1 = -mass_*wolf::gravity()/2 + ((Vector3d()<<0,mass_*Acc2/2,0).finished());
@@ -427,7 +427,7 @@ class FactorInertialKinematics_2KF_ForceY : public FactorInertialKinematics_2KF
class FactorInertialKinematics_2KF_ForceZ : public FactorInertialKinematics_2KF
{
protected:
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_2KF::SetUp();
Vector3d f1 = -mass_*wolf::gravity()/2 + ((Vector3d()<<0,0,mass_*Acc1/2).finished());
@@ -445,7 +445,7 @@ class FactorInertialKinematics_3KF_ForceX : public FactorInertialKinematics_2KF_
TimeStamp tC_;
protected:
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_2KF_ForceX::SetUp();
tC_.set(2);
@@ -506,7 +506,7 @@ class FactorInertialKinematics_3KF_ForceX : public FactorInertialKinematics_2KF_
class FactorInertialKinematics_2KF_ForceX_Odom3d : public FactorInertialKinematics_2KF_ForceX
{
protected:
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_2KF_ForceX::SetUp();
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index 095e702fac013b2cea83817f0902aca981b02fa7..33b375ecaea8833c68d4c972d64b8d47b8c659c6 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -81,7 +81,7 @@ class FactorInertialKinematics_1KF : public testing::Test
Vector3d bias_p_;
Vector6d bias_imu_;
- virtual void SetUp()
+ void SetUp() override
{
//===================================================== SETTING PROBLEM
// WOLF PROBLEM
@@ -139,13 +139,13 @@ class FactorInertialKinematics_1KF : public testing::Test
CIK0_ = CaptureBase::emplace<CaptureInertialKinematics>(KF0_, t_, SIK_, meas_ikin0, Iq, Lq, bias_p_);
}
- virtual void TearDown(){}
+ void TearDown() override{}
};
class FactorInertialKinematics_1KF_Meas0_bpfix : public FactorInertialKinematics_1KF
{
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_1KF::SetUp();
// Fix the bp bias
@@ -170,7 +170,7 @@ class FactorInertialKinematics_1KF_Meas0_bpfix : public FactorInertialKinematics
class FactorInertialKinematics_1KF_1p_bpfix : public FactorInertialKinematics_1KF
{
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_1KF::SetUp();
// Fix the bp bias
@@ -195,7 +195,7 @@ class FactorInertialKinematics_1KF_1p_bpfix : public FactorInertialKinematics_1K
class FactorInertialKinematics_1KF_m1p_pfix : public FactorInertialKinematics_1KF
{
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_1KF::SetUp();
// Fix the COM position
@@ -221,7 +221,7 @@ class FactorInertialKinematics_1KF_m1p_pfix : public FactorInertialKinematics_1K
class FactorInertialKinematics_1KF_1v_bfix : public FactorInertialKinematics_1KF
{
- virtual void SetUp() override
+ void SetUp() override
{
FactorInertialKinematics_1KF::SetUp();
// Fix the bp bias
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index b4b4cd15b5a7f245d07c3261152147d44b9d0d55..dd72e9f4d8db00c2afe96c1b25c4f8347422e16c 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -74,7 +74,7 @@ public:
ProcessorForceTorquePreintPtr proc_ftpreint_;
FrameBasePtr KF1_;
- virtual void SetUp()
+ void SetUp() override
{
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_ROOT_DIR;
@@ -134,7 +134,7 @@ public:
proc_ftpreint_ = std::static_pointer_cast<ProcessorForceTorquePreint>(proc_ft_base);
}
- virtual void TearDown() {}
+ void TearDown() override {}
};
@@ -189,7 +189,7 @@ public:
x_origin_ << ZERO3, 0, 0, 0, 1, ZERO3, ZERO3, ZERO3, ZERO3;
}
- virtual void SetUp()
+ void SetUp() override
{
ProcessorForceTorquePreintImuOdom3dIkin2KF::SetUp();
t0_.set(0.0);
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index 3a715897dfafab2acda28d1a991b5e2131d40636..3696aba1e27e3a4b79e6a817920b0adf9daf7a31 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -56,7 +56,7 @@ class FactorInertialKinematics_2KF : public testing::Test
MatrixXd P_origin_;
FrameBasePtr KF0_;
- virtual void SetUp()
+ void SetUp() override
{
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_ROOT_DIR;
@@ -126,7 +126,7 @@ class FactorInertialKinematics_2KF : public testing::Test
}
- virtual void TearDown(){}
+ void TearDown() override{}
};
TEST_F(FactorInertialKinematics_2KF, sensor_and_processors_registration)