From 247d023759c17c560f4102cb89ed9e3e35832b03 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Tue, 9 Jun 2020 14:37:10 +0200
Subject: [PATCH] Fix modernize-use-override warnings
---
include/core/capture/capture_base.h | 8 +-
include/core/capture/capture_diff_drive.h | 2 +-
include/core/capture/capture_motion.h | 6 +-
include/core/capture/capture_odom_2d.h | 2 +-
include/core/capture/capture_odom_3d.h | 2 +-
include/core/capture/capture_pose.h | 2 +-
include/core/capture/capture_void.h | 2 +-
include/core/ceres_wrapper/ceres_manager.h | 36 ++--
.../ceres_wrapper/cost_function_wrapper.h | 4 +-
.../local_parametrization_wrapper.h | 10 +-
include/core/factor/factor_analytic.h | 12 +-
include/core/factor/factor_autodiff.h | 168 +++++++++---------
.../core/factor/factor_autodiff_distance_3d.h | 4 +-
include/core/factor/factor_base.h | 4 +-
include/core/factor/factor_block_absolute.h | 14 +-
include/core/factor/factor_block_difference.h | 14 +-
include/core/factor/factor_diff_drive.h | 4 +-
include/core/factor/factor_odom_2d.h | 4 +-
include/core/factor/factor_odom_2d_analytic.h | 4 +-
include/core/factor/factor_odom_3d.h | 4 +-
include/core/factor/factor_pose_2d.h | 4 +-
include/core/factor/factor_pose_3d.h | 4 +-
.../core/factor/factor_quaternion_absolute.h | 4 +-
.../core/factor/factor_relative_2d_analytic.h | 14 +-
.../factor_relative_pose_2d_with_extrinsics.h | 4 +-
include/core/feature/feature_base.h | 4 +-
include/core/feature/feature_motion.h | 2 +-
include/core/feature/feature_odom_2d.h | 2 +-
include/core/feature/feature_pose.h | 2 +-
include/core/frame/frame_base.h | 4 +-
include/core/hardware/hardware_base.h | 2 +-
include/core/landmark/landmark_base.h | 4 +-
include/core/map/map_base.h | 2 +-
include/core/processor/processor_base.h | 6 +-
include/core/processor/processor_diff_drive.h | 16 +-
.../core/processor/processor_loopclosure.h | 18 +-
include/core/processor/processor_motion.h | 22 +--
include/core/processor/processor_odom_2d.h | 26 +--
include/core/processor/processor_odom_3d.h | 16 +-
include/core/processor/processor_tracker.h | 16 +-
.../processor/processor_tracker_feature.h | 14 +-
.../processor/processor_tracker_landmark.h | 14 +-
include/core/sensor/sensor_base.h | 6 +-
include/core/sensor/sensor_diff_drive.h | 2 +-
include/core/sensor/sensor_odom_2d.h | 4 +-
include/core/sensor/sensor_odom_3d.h | 4 +-
include/core/solver/solver_manager.h | 2 +-
.../state_block/local_parametrization_angle.h | 14 +-
.../local_parametrization_homogeneous.h | 12 +-
.../local_parametrization_quaternion.h | 14 +-
include/core/state_block/state_angle.h | 2 +-
.../core/state_block/state_homogeneous_3d.h | 6 +-
include/core/state_block/state_quaternion.h | 6 +-
include/core/trajectory/trajectory_base.h | 2 +-
include/core/tree_manager/tree_manager_base.h | 4 +-
.../tree_manager_sliding_window.h | 4 +-
include/core/utils/loader.h | 4 +-
include/core/utils/utils_gtest.h | 2 +-
test/dummy/factor_dummy_zero_1.h | 4 +-
test/dummy/factor_dummy_zero_12.h | 4 +-
test/dummy/factor_feature_dummy.h | 16 +-
test/dummy/factor_landmark_dummy.h | 16 +-
test/dummy/processor_tracker_feature_dummy.h | 14 +-
test/dummy/processor_tracker_landmark_dummy.h | 14 +-
test/dummy/solver_manager_dummy.h | 24 +--
test/dummy/tree_manager_dummy.h | 6 +-
test/gtest_ceres_manager.cpp | 2 +-
test/gtest_factor_autodiff_distance_3d.cpp | 2 +-
test/gtest_factor_base.cpp | 18 +-
test/gtest_factor_block_difference.cpp | 4 +-
test/gtest_factor_diff_drive.cpp | 32 ++--
test/gtest_has_state_blocks.cpp | 4 +-
test/gtest_pack_KF_buffer.cpp | 2 +-
test/gtest_processor_diff_drive.cpp | 34 ++--
test/gtest_processor_loopclosure.cpp | 10 +-
test/gtest_processor_motion.cpp | 6 +-
.../gtest_processor_tracker_feature_dummy.cpp | 4 +-
...gtest_processor_tracker_landmark_dummy.cpp | 4 +-
test/gtest_shared_from_this.cpp | 2 +-
test/gtest_track_matrix.cpp | 2 +-
80 files changed, 409 insertions(+), 409 deletions(-)
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index d4e215e47..c10374ae8 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -35,7 +35,7 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
protected:
unsigned int capture_id_;
TimeStamp time_stamp_; ///< Time stamp
- virtual void setProblem(ProblemPtr _problem) final;
+ void setProblem(ProblemPtr _problem) override final;
public:
@@ -46,7 +46,7 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
StateBlockPtr _o_ptr = nullptr,
StateBlockPtr _intr_ptr = nullptr);
- virtual ~CaptureBase();
+ ~CaptureBase() override;
virtual void remove(bool viral_remove_empty_parent=false);
// Type
@@ -89,8 +89,8 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
StateBlockPtr getSensorO() const;
StateBlockPtr getSensorIntrinsic() const;
- virtual void fix() override;
- virtual void unfix() override;
+ void fix() override;
+ void unfix() override;
void move(FrameBasePtr);
void link(FrameBasePtr);
diff --git a/include/core/capture/capture_diff_drive.h b/include/core/capture/capture_diff_drive.h
index 52e865da7..e9797427f 100644
--- a/include/core/capture/capture_diff_drive.h
+++ b/include/core/capture/capture_diff_drive.h
@@ -37,7 +37,7 @@ public:
StateBlockPtr _o_ptr = nullptr,
StateBlockPtr _intr_ptr = nullptr);
- virtual ~CaptureDiffDrive() = default;
+ ~CaptureDiffDrive() override = default;
};
} // namespace wolf
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index fca231eeb..c0d86ee10 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -62,10 +62,10 @@ class CaptureMotion : public CaptureBase
StateBlockPtr _o_ptr = nullptr,
StateBlockPtr _intr_ptr = nullptr);
- virtual ~CaptureMotion();
+ ~CaptureMotion() override;
// Type
- virtual bool isMotion() const override { return true; }
+ bool isMotion() const override { return true; }
// Data
const Eigen::VectorXd& getData() const;
@@ -96,7 +96,7 @@ class CaptureMotion : public CaptureBase
bool containsTimeStamp(const TimeStamp& _ts, double _time_tolerance);
- virtual void printHeader(int depth, //
+ void printHeader(int depth, //
bool constr_by, //
bool metric, //
bool state_blocks,
diff --git a/include/core/capture/capture_odom_2d.h b/include/core/capture/capture_odom_2d.h
index 8856c363a..e0a81bf2d 100644
--- a/include/core/capture/capture_odom_2d.h
+++ b/include/core/capture/capture_odom_2d.h
@@ -31,7 +31,7 @@ class CaptureOdom2d : public CaptureMotion
const Eigen::MatrixXd& _data_cov,
CaptureBasePtr _capture_origin_ptr = nullptr);
- virtual ~CaptureOdom2d();
+ ~CaptureOdom2d() override;
};
diff --git a/include/core/capture/capture_odom_3d.h b/include/core/capture/capture_odom_3d.h
index b4a293f8c..054c4f935 100644
--- a/include/core/capture/capture_odom_3d.h
+++ b/include/core/capture/capture_odom_3d.h
@@ -31,7 +31,7 @@ class CaptureOdom3d : public CaptureMotion
const Eigen::MatrixXd& _data_cov,
CaptureBasePtr _capture_origin_ptr = nullptr);
- virtual ~CaptureOdom3d();
+ ~CaptureOdom3d() override;
};
diff --git a/include/core/capture/capture_pose.h b/include/core/capture/capture_pose.h
index 56ce0ea48..79298fe4d 100644
--- a/include/core/capture/capture_pose.h
+++ b/include/core/capture/capture_pose.h
@@ -25,7 +25,7 @@ class CapturePose : public CaptureBase
CapturePose(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXd& _data, const Eigen::MatrixXd& _data_covariance);
- virtual ~CapturePose();
+ ~CapturePose() override;
virtual void emplaceFeatureAndFactor();
diff --git a/include/core/capture/capture_void.h b/include/core/capture/capture_void.h
index c0bd4803d..0ac7b3b2f 100644
--- a/include/core/capture/capture_void.h
+++ b/include/core/capture/capture_void.h
@@ -14,7 +14,7 @@ class CaptureVoid : public CaptureBase
{
public:
CaptureVoid(const TimeStamp& _ts, SensorBasePtr _sensor_ptr);
- virtual ~CaptureVoid();
+ ~CaptureVoid() override;
};
diff --git a/include/core/ceres_wrapper/ceres_manager.h b/include/core/ceres_wrapper/ceres_manager.h
index 0841f7421..dd88e5db6 100644
--- a/include/core/ceres_wrapper/ceres_manager.h
+++ b/include/core/ceres_wrapper/ceres_manager.h
@@ -30,7 +30,7 @@ struct CeresParams : public SolverParams
//
}
- virtual ~CeresParams() = default;
+ ~CeresParams() override = default;
};
/** \brief Ceres manager for WOLF
*
@@ -56,7 +56,7 @@ class CeresManager : public SolverManager
const ceres::Solver::Options& _ceres_options
= ceres::Solver::Options());
- ~CeresManager();
+ ~CeresManager() override;
static SolverManagerPtr create(const ProblemPtr& _wolf_problem, const ParamsServer& _server);
@@ -64,18 +64,18 @@ class CeresManager : public SolverManager
std::unique_ptr<ceres::Problem>& getCeresProblem();
- virtual void computeCovariances(CovarianceBlocksToBeComputed _blocks
+ void computeCovariances(CovarianceBlocksToBeComputed _blocks
= CovarianceBlocksToBeComputed::ROBOT_LANDMARKS) override;
- virtual void computeCovariances(const std::vector<StateBlockPtr>& st_list) override;
+ void computeCovariances(const std::vector<StateBlockPtr>& st_list) override;
- virtual bool hasConverged() override;
+ bool hasConverged() override;
- virtual SizeStd iterations() override;
+ SizeStd iterations() override;
- virtual double initialCost() override;
+ double initialCost() override;
- virtual double finalCost() override;
+ double finalCost() override;
ceres::Solver::Options& getSolverOptions();
@@ -84,27 +84,27 @@ class CeresManager : public SolverManager
protected:
- virtual bool checkDerived(std::string prefix="") const override;
+ bool checkDerived(std::string prefix="") const override;
- virtual std::string solveDerived(const ReportVerbosity report_level) override;
+ std::string solveDerived(const ReportVerbosity report_level) override;
- virtual void addFactorDerived(const FactorBasePtr& fac_ptr) override;
+ void addFactorDerived(const FactorBasePtr& fac_ptr) override;
- virtual void removeFactorDerived(const FactorBasePtr& fac_ptr) override;
+ void removeFactorDerived(const FactorBasePtr& fac_ptr) override;
- virtual void addStateBlockDerived(const StateBlockPtr& state_ptr) override;
+ void addStateBlockDerived(const StateBlockPtr& state_ptr) override;
- virtual void removeStateBlockDerived(const StateBlockPtr& state_ptr) override;
+ void removeStateBlockDerived(const StateBlockPtr& state_ptr) override;
- virtual void updateStateBlockStatusDerived(const StateBlockPtr& state_ptr) override;
+ void updateStateBlockStatusDerived(const StateBlockPtr& state_ptr) override;
- virtual void updateStateBlockLocalParametrizationDerived(const StateBlockPtr& state_ptr) override;
+ void updateStateBlockLocalParametrizationDerived(const StateBlockPtr& state_ptr) override;
ceres::CostFunctionPtr createCostFunction(const FactorBasePtr& _fac_ptr);
- virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const override;
+ bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const override;
- virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) override;
+ bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) override;
};
inline ceres::Solver::Summary CeresManager::getSummary()
diff --git a/include/core/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
index 69cbf125b..c9972fe78 100644
--- a/include/core/ceres_wrapper/cost_function_wrapper.h
+++ b/include/core/ceres_wrapper/cost_function_wrapper.h
@@ -25,9 +25,9 @@ class CostFunctionWrapper : public ceres::CostFunction
CostFunctionWrapper(FactorBasePtr _factor_ptr);
- virtual ~CostFunctionWrapper();
+ ~CostFunctionWrapper() override;
- virtual bool Evaluate(const double* const * parameters, double* residuals, double** jacobians) const;
+ bool Evaluate(const double* const * parameters, double* residuals, double** jacobians) const override;
FactorBasePtr getFactor() const;
};
diff --git a/include/core/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
index cb02cb8f0..fcffbbf80 100644
--- a/include/core/ceres_wrapper/local_parametrization_wrapper.h
+++ b/include/core/ceres_wrapper/local_parametrization_wrapper.h
@@ -21,15 +21,15 @@ class LocalParametrizationWrapper : public ceres::LocalParameterization
LocalParametrizationWrapper(LocalParametrizationBasePtr _local_parametrization_ptr);
- virtual ~LocalParametrizationWrapper() = default;
+ ~LocalParametrizationWrapper() override = default;
- virtual bool Plus(const double* x_raw, const double* delta_raw, double* x_plus_delta_raw) const;
+ bool Plus(const double* x_raw, const double* delta_raw, double* x_plus_delta_raw) const override;
- virtual bool ComputeJacobian(const double* x, double* jacobian) const;
+ bool ComputeJacobian(const double* x, double* jacobian) const override;
- virtual int GlobalSize() const;
+ int GlobalSize() const override;
- virtual int LocalSize() const;
+ int LocalSize() const override;
LocalParametrizationBasePtr getLocalParametrization() const;
};
diff --git a/include/core/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
index 34fd699a7..c05b1a2e1 100644
--- a/include/core/factor/factor_analytic.h
+++ b/include/core/factor/factor_analytic.h
@@ -38,21 +38,21 @@ class FactorAnalytic: public FactorBase
StateBlockPtr _state8Ptr = nullptr,
StateBlockPtr _state9Ptr = nullptr );
- virtual ~FactorAnalytic() = default;
+ ~FactorAnalytic() override = default;
/** \brief Returns a vector of pointers to the states
*
* Returns a vector of pointers to the state in which this factor depends
*
**/
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const override;
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override;
/** \brief Returns a vector of sizes of the state blocks
*
* Returns a vector of sizes of the state blocks
*
**/
- virtual std::vector<unsigned int> getStateSizes() const override;
+ std::vector<unsigned int> getStateSizes() const override;
/** \brief Returns the factor residual size
*
@@ -63,7 +63,7 @@ class FactorAnalytic: public FactorBase
/** \brief Evaluate the factor given the input parameters and returning the residuals and jacobians
**/
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// load parameters evaluation value
std::vector<Eigen::Map<const Eigen::VectorXd>> state_blocks_map_;
@@ -97,7 +97,7 @@ class FactorAnalytic: public FactorBase
/** Returns the residual vector and a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr
**/
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(_states_ptr.size() == state_block_sizes_vector_.size());
@@ -152,7 +152,7 @@ class FactorAnalytic: public FactorBase
* Returns the jacobians computation method
*
**/
- virtual JacobianMethod getJacobianMethod() const override;
+ JacobianMethod getJacobianMethod() const override;
private:
void resizeVectors();
diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index dce0203c8..8b3ab6f9c 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -129,11 +129,11 @@ class FactorAutodiff : public FactorBase
jets_11_[i] = WolfJet(0, last_jet_idx++);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
@@ -143,7 +143,7 @@ class FactorAutodiff : public FactorBase
* Returns the residual and jacobians given the state values
*
**/
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -235,7 +235,7 @@ class FactorAutodiff : public FactorBase
/** \brief Returns a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr
*
**/
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -289,7 +289,7 @@ class FactorAutodiff : public FactorBase
* Returns a vector of pointers to the state in which this factor depends
*
**/
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
@@ -297,7 +297,7 @@ class FactorAutodiff : public FactorBase
/** \brief Returns a vector of the states sizes
*
**/
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
@@ -307,7 +307,7 @@ class FactorAutodiff : public FactorBase
* Returns the residual size
*
**/
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -424,16 +424,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,B9,B10,0> : public Fact
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -515,7 +515,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,B9,B10,0> : public Fact
jets_10_[i].a = parameters[10][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -563,17 +563,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,B9,B10,0> : public Fact
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -684,16 +684,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,B9,0,0> : public Factor
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -771,7 +771,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,B9,0,0> : public Factor
jets_9_[i].a = parameters[9][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -818,17 +818,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,B9,0,0> : public Factor
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -934,16 +934,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,0,0,0> : public FactorB
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -1017,7 +1017,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,0,0,0> : public FactorB
jets_8_[i].a = parameters[8][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -1063,17 +1063,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,0,0,0> : public FactorB
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -1174,16 +1174,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,0,0,0,0> : public FactorBa
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -1253,7 +1253,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,0,0,0,0> : public FactorBa
jets_7_[i].a = parameters[7][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -1298,17 +1298,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,0,0,0,0> : public FactorBa
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -1404,16 +1404,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,0,0,0,0,0> : public FactorBas
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -1479,7 +1479,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,0,0,0,0,0> : public FactorBas
jets_6_[i].a = parameters[6][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -1523,17 +1523,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,0,0,0,0,0> : public FactorBas
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -1624,16 +1624,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,0,0,0,0,0,0> : public FactorBase
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -1695,7 +1695,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,0,0,0,0,0,0> : public FactorBase
jets_5_[i].a = parameters[5][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -1734,17 +1734,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,0,0,0,0,0,0> : public FactorBase
}
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -1829,16 +1829,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,0,0,0,0,0,0,0> : public FactorBase
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -1896,7 +1896,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,0,0,0,0,0,0,0> : public FactorBase
jets_4_[i].a = parameters[4][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -1934,17 +1934,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,0,0,0,0,0,0,0> : public FactorBase
}
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -2024,16 +2024,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,0,0,0,0,0,0,0,0> : public FactorBase
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -2087,7 +2087,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,0,0,0,0,0,0,0,0> : public FactorBase
jets_3_[i].a = parameters[3][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -2128,17 +2128,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,0,0,0,0,0,0,0,0> : public FactorBase
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -2213,16 +2213,16 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,0,0,0,0,0,0,0,0,0> : public FactorBase
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -2272,7 +2272,7 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,0,0,0,0,0,0,0,0,0> : public FactorBase
jets_2_[i].a = parameters[2][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -2312,17 +2312,17 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,0,0,0,0,0,0,0,0,0> : public FactorBase
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -2392,16 +2392,16 @@ class FactorAutodiff<FacT,RES,B0,B1,0,0,0,0,0,0,0,0,0,0> : public FactorBase
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -2447,7 +2447,7 @@ class FactorAutodiff<FacT,RES,B0,B1,0,0,0,0,0,0,0,0,0,0> : public FactorBase
jets_1_[i].a = parameters[1][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -2486,17 +2486,17 @@ class FactorAutodiff<FacT,RES,B0,B1,0,0,0,0,0,0,0,0,0,0> : public FactorBase
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
@@ -2561,16 +2561,16 @@ class FactorAutodiff<FacT,RES,B0,0,0,0,0,0,0,0,0,0,0,0> : public FactorBase
state_ptrs_.resize(n_blocks);
}
- virtual ~FactorAutodiff()
+ ~FactorAutodiff() override
{
}
- virtual JacobianMethod getJacobianMethod() const
+ JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
}
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
{
// only residuals
if (jacobians == nullptr)
@@ -2612,7 +2612,7 @@ class FactorAutodiff<FacT,RES,B0,0,0,0,0,0,0,0,0,0,0,0> : public FactorBase
jets_0_[i].a = parameters[0][i];
}
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override
{
assert(residual_.size() == RES);
jacobians_.clear();
@@ -2650,17 +2650,17 @@ class FactorAutodiff<FacT,RES,B0,0,0,0,0,0,0,0,0,0,0,0> : public FactorBase
// std::cout << jacobians_[i] << std::endl << std::endl;
}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return state_ptrs_;
}
- virtual std::vector<unsigned int> getStateSizes() const
+ std::vector<unsigned int> getStateSizes() const override
{
return state_block_sizes_;
}
- virtual unsigned int getSize() const
+ unsigned int getSize() const override
{
return RES;
}
diff --git a/include/core/factor/factor_autodiff_distance_3d.h b/include/core/factor/factor_autodiff_distance_3d.h
index 320f7ac27..bd0808978 100644
--- a/include/core/factor/factor_autodiff_distance_3d.h
+++ b/include/core/factor/factor_autodiff_distance_3d.h
@@ -37,9 +37,9 @@ class FactorAutodiffDistance3d : public FactorAutodiff<FactorAutodiffDistance3d,
{
}
- virtual ~FactorAutodiffDistance3d() { /* nothing */ }
+ ~FactorAutodiffDistance3d() override { /* nothing */ }
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("GEOM");
}
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index acbe45ec5..1d4f01a35 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -56,7 +56,7 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
Eigen::VectorXd measurement_; ///< the measurement vector
Eigen::MatrixXd measurement_sqrt_information_upper_;///< the squared root information matrix ///< ProcessorBase pointer list
- virtual void setProblem(ProblemPtr) final;
+ void setProblem(ProblemPtr) override final;
public:
/** \brief Default constructor.
@@ -87,7 +87,7 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
- virtual ~FactorBase() = default;
+ ~FactorBase() override = default;
virtual void remove(bool viral_remove_empty_parent=false);
diff --git a/include/core/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
index 143308af2..21e2074e2 100644
--- a/include/core/factor/factor_block_absolute.h
+++ b/include/core/factor/factor_block_absolute.h
@@ -98,9 +98,9 @@ class FactorBlockAbsolute : public FactorAnalytic
}
}
- virtual ~FactorBlockAbsolute() = default;
+ ~FactorBlockAbsolute() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("ABS");
}
@@ -110,7 +110,7 @@ class FactorBlockAbsolute : public FactorAnalytic
* Returns the residual evaluated in the states provided in std::vector of mapped Eigen::VectorXd
*
**/
- virtual Eigen::VectorXd evaluateResiduals(const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector) const override;
+ Eigen::VectorXd evaluateResiduals(const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector) const override;
/** \brief Returns the normalized jacobians evaluated in the states
*
@@ -122,10 +122,10 @@ class FactorBlockAbsolute : public FactorAnalytic
* \param _compute_jacobian is a vector that specifies whether the ith jacobian sould be computed or not
*
**/
- virtual void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
+ void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
std::vector<Eigen::Map<Eigen::MatrixRowXd> >& jacobians,
const std::vector<bool>& _compute_jacobian) const override;
- virtual void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
+ void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
std::vector<Eigen::MatrixXd>& jacobians,
const std::vector<bool>& _compute_jacobian) const override;
@@ -136,11 +136,11 @@ class FactorBlockAbsolute : public FactorAnalytic
* \param jacobians is an output vector of mapped eigen matrices that sould contain the jacobians w.r.t each state block
*
**/
- virtual void evaluatePureJacobians(std::vector<Eigen::MatrixXd>& jacobians) const override;
+ void evaluatePureJacobians(std::vector<Eigen::MatrixXd>& jacobians) const override;
/** \brief Returns the factor residual size
**/
- virtual unsigned int getSize() const override;
+ unsigned int getSize() const override;
};
inline Eigen::VectorXd FactorBlockAbsolute::evaluateResiduals(const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector) const
diff --git a/include/core/factor/factor_block_difference.h b/include/core/factor/factor_block_difference.h
index ebaf8bc7b..d632a7987 100644
--- a/include/core/factor/factor_block_difference.h
+++ b/include/core/factor/factor_block_difference.h
@@ -81,9 +81,9 @@ class FactorBlockDifference : public FactorAnalytic
J_res_sb2_.middleCols(sb2_constrained_start_,sb1_constrained_size_) = - Eigen::MatrixXd::Identity(sb2_constrained_size_,sb2_constrained_size_);
}
- virtual ~FactorBlockDifference() = default;
+ ~FactorBlockDifference() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("DIFF");
}
@@ -93,7 +93,7 @@ class FactorBlockDifference : public FactorAnalytic
* Returns the residual evaluated in the states provided in std::vector of mapped Eigen::VectorXd
*
**/
- virtual Eigen::VectorXd evaluateResiduals(const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector) const override;
+ Eigen::VectorXd evaluateResiduals(const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector) const override;
/** \brief Returns the normalized jacobians evaluated in the states
*
@@ -105,10 +105,10 @@ class FactorBlockDifference : public FactorAnalytic
* \param _compute_jacobian is a vector that specifies whether the ith jacobian sould be computed or not
*
**/
- virtual void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
+ void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
std::vector<Eigen::Map<Eigen::MatrixRowXd> >& jacobians,
const std::vector<bool>& _compute_jacobian) const override;
- virtual void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
+ void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
std::vector<Eigen::MatrixXd>& jacobians,
const std::vector<bool>& _compute_jacobian) const override;
@@ -119,11 +119,11 @@ class FactorBlockDifference : public FactorAnalytic
* \param jacobians is an output vector of mapped eigen matrices that sould contain the jacobians w.r.t each state block
*
**/
- virtual void evaluatePureJacobians(std::vector<Eigen::MatrixXd>& jacobians) const override;
+ void evaluatePureJacobians(std::vector<Eigen::MatrixXd>& jacobians) const override;
/** \brief Returns the factor residual size
**/
- virtual unsigned int getSize() const override;
+ unsigned int getSize() const override;
};
inline Eigen::VectorXd FactorBlockDifference::evaluateResiduals(const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector) const
diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index e267fb507..aa28c9eee 100644
--- a/include/core/factor/factor_diff_drive.h
+++ b/include/core/factor/factor_diff_drive.h
@@ -80,9 +80,9 @@ class FactorDiffDrive : public FactorAutodiff<FactorDiffDrive,
* Default destructor.
*
**/
- virtual ~FactorDiffDrive() = default;
+ ~FactorDiffDrive() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("MOTION");
}
diff --git a/include/core/factor/factor_odom_2d.h b/include/core/factor/factor_odom_2d.h
index d8cfa08a9..298cc3584 100644
--- a/include/core/factor/factor_odom_2d.h
+++ b/include/core/factor/factor_odom_2d.h
@@ -34,9 +34,9 @@ class FactorOdom2d : public FactorAutodiff<FactorOdom2d, 3, 2, 1, 2, 1>
//
}
- virtual ~FactorOdom2d() = default;
+ ~FactorOdom2d() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("MOTION");
}
diff --git a/include/core/factor/factor_odom_2d_analytic.h b/include/core/factor/factor_odom_2d_analytic.h
index 52ea04ccd..dc1437e4f 100644
--- a/include/core/factor/factor_odom_2d_analytic.h
+++ b/include/core/factor/factor_odom_2d_analytic.h
@@ -28,9 +28,9 @@ class FactorOdom2dAnalytic : public FactorRelative2dAnalytic
//
}
- virtual ~FactorOdom2dAnalytic() = default;
+ ~FactorOdom2dAnalytic() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("MOTION");
}
diff --git a/include/core/factor/factor_odom_3d.h b/include/core/factor/factor_odom_3d.h
index 4e32efe40..94b117f21 100644
--- a/include/core/factor/factor_odom_3d.h
+++ b/include/core/factor/factor_odom_3d.h
@@ -26,9 +26,9 @@ class FactorOdom3d : public FactorAutodiff<FactorOdom3d,6,3,4,3,4>
bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE);
- virtual ~FactorOdom3d() = default;
+ ~FactorOdom3d() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("MOTION");
}
diff --git a/include/core/factor/factor_pose_2d.h b/include/core/factor/factor_pose_2d.h
index a054c1167..6536dff68 100644
--- a/include/core/factor/factor_pose_2d.h
+++ b/include/core/factor/factor_pose_2d.h
@@ -32,9 +32,9 @@ class FactorPose2d: public FactorAutodiff<FactorPose2d,3,2,1>
// std::cout << "created FactorPose2d " << std::endl;
}
- virtual ~FactorPose2d() = default;
+ ~FactorPose2d() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("ABS");
}
diff --git a/include/core/factor/factor_pose_3d.h b/include/core/factor/factor_pose_3d.h
index 0390ab640..dfc8a1754 100644
--- a/include/core/factor/factor_pose_3d.h
+++ b/include/core/factor/factor_pose_3d.h
@@ -31,9 +31,9 @@ class FactorPose3d: public FactorAutodiff<FactorPose3d,6,3,4>
//
}
- virtual ~FactorPose3d() = default;
+ ~FactorPose3d() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("ABS");
}
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index 8cb37c392..6e966fbc6 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -42,9 +42,9 @@ class FactorQuaternionAbsolute: public FactorAutodiff<FactorQuaternionAbsolute,3
//
}
- virtual ~FactorQuaternionAbsolute() = default;
+ ~FactorQuaternionAbsolute() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("ABS");
}
diff --git a/include/core/factor/factor_relative_2d_analytic.h b/include/core/factor/factor_relative_2d_analytic.h
index e4ccf958c..dfb06c429 100644
--- a/include/core/factor/factor_relative_2d_analytic.h
+++ b/include/core/factor/factor_relative_2d_analytic.h
@@ -91,16 +91,16 @@ class FactorRelative2dAnalytic : public FactorAnalytic
//
}
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("GEOM");
}
- virtual ~FactorRelative2dAnalytic() = default;
+ ~FactorRelative2dAnalytic() override = default;
/** \brief Returns the factor residual size
**/
- virtual unsigned int getSize() const override
+ unsigned int getSize() const override
{
return 3;
}
@@ -109,7 +109,7 @@ class FactorRelative2dAnalytic : public FactorAnalytic
*
* Returns the residual evaluated in the states provided in a std::vector of mapped Eigen::VectorXd
**/
- virtual Eigen::VectorXd evaluateResiduals(
+ Eigen::VectorXd evaluateResiduals(
const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector) const override;
/** \brief Returns the jacobians evaluated in the states provided
@@ -122,10 +122,10 @@ class FactorRelative2dAnalytic : public FactorAnalytic
* \param _compute_jacobian is a vector that specifies whether the ith jacobian sould be computed or not
*
**/
- virtual void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
+ void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
std::vector<Eigen::Map<Eigen::MatrixRowXd> >& jacobians,
const std::vector<bool>& _compute_jacobian) const override;
- virtual void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
+ void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
std::vector<Eigen::MatrixXd>& jacobians,
const std::vector<bool>& _compute_jacobian) const override;
@@ -133,7 +133,7 @@ class FactorRelative2dAnalytic : public FactorAnalytic
* \param jacobians is an output vector of mapped eigen matrices that sould contain the jacobians w.r.t each state block
*
**/
- virtual void evaluatePureJacobians(std::vector<Eigen::MatrixXd>& jacobians) const override;
+ void evaluatePureJacobians(std::vector<Eigen::MatrixXd>& jacobians) const override;
};
diff --git a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
index 704cc3e7b..1ce6c842b 100644
--- a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
@@ -39,9 +39,9 @@ class FactorRelativePose2dWithExtrinsics : public FactorAutodiff<FactorRelativeP
//
}
- virtual ~FactorRelativePose2dWithExtrinsics() = default;
+ ~FactorRelativePose2dWithExtrinsics() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("MOTION");
}
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index f412fd368..43735ff44 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -37,7 +37,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
Eigen::MatrixXd measurement_covariance_; ///< the measurement covariance matrix
Eigen::MatrixXd measurement_sqrt_information_upper_; ///< the squared root information matrix
Eigen::VectorXd expectation_; ///< expectation
- virtual void setProblem(ProblemPtr _problem) final;
+ void setProblem(ProblemPtr _problem) override final;
public:
@@ -58,7 +58,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
const Eigen::MatrixXd& _meas_uncertainty,
UncertaintyType _uncertainty_type = UNCERTAINTY_IS_COVARIANCE);
- virtual ~FeatureBase();
+ ~FeatureBase() override;
virtual void remove(bool viral_remove_empty_parent=false);
diff --git a/include/core/feature/feature_motion.h b/include/core/feature/feature_motion.h
index ae588e29a..0f5ecc2a6 100644
--- a/include/core/feature/feature_motion.h
+++ b/include/core/feature/feature_motion.h
@@ -24,7 +24,7 @@ class FeatureMotion : public FeatureBase
const MatrixXd _delta_preint_cov,
const VectorXd& _calib_preint,
const MatrixXd& _jacobian_calib);
- virtual ~FeatureMotion();
+ ~FeatureMotion() override;
const Eigen::VectorXd& getDeltaPreint() const; ///< A new name for getMeasurement()
const Eigen::VectorXd& getCalibrationPreint() const;
diff --git a/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index 9ef3059cd..cb65fa06b 100644
--- a/include/core/feature/feature_odom_2d.h
+++ b/include/core/feature/feature_odom_2d.h
@@ -25,7 +25,7 @@ class FeatureOdom2d : public FeatureBase
*/
FeatureOdom2d(const Eigen::VectorXd& _measurement, const Eigen::MatrixXd& _meas_covariance);
- virtual ~FeatureOdom2d();
+ ~FeatureOdom2d() override;
/** \brief Generic interface to find factors
*
diff --git a/include/core/feature/feature_pose.h b/include/core/feature/feature_pose.h
index 2da7d5b8f..701967949 100644
--- a/include/core/feature/feature_pose.h
+++ b/include/core/feature/feature_pose.h
@@ -23,7 +23,7 @@ class FeaturePose : public FeatureBase
*
*/
FeaturePose(const Eigen::VectorXd& _measurement, const Eigen::MatrixXd& _meas_covariance);
- virtual ~FeaturePose();
+ ~FeaturePose() override;
};
} // namespace wolf
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 6c73ad933..5c45c103c 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -79,7 +79,7 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
const std::string _frame_structure,
const std::list<VectorXd>& _vectors);
- virtual ~FrameBase();
+ ~FrameBase() override;
virtual void remove(bool viral_remove_empty_parent=false);
// Frame properties -----------------------------------------------
@@ -109,7 +109,7 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
StateBlockPtr getV() const;
protected:
- virtual void setProblem(ProblemPtr _problem) final;
+ void setProblem(ProblemPtr _problem) override final;
// States
public:
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index fba575b0b..0ef770b1c 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -23,7 +23,7 @@ class HardwareBase : public NodeBase, public std::enable_shared_from_this<Hardwa
public:
HardwareBase();
- virtual ~HardwareBase();
+ ~HardwareBase() override;
const SensorBasePtrList& getSensorList() const;
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 3d177d79c..21098d332 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -34,7 +34,7 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_
protected:
// Navigate wolf tree
- virtual void setProblem(ProblemPtr _problem) final;
+ void setProblem(ProblemPtr _problem) override final;
unsigned int landmark_id_; ///< landmark unique id
TimeStamp stamp_; ///< stamp of the creation of the landmark
Eigen::VectorXd descriptor_; //TODO: agree? JS: No: It is not general enough as descriptor to be in LmkBase.
@@ -50,7 +50,7 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_
*
**/
LandmarkBase(const std::string& _type, StateBlockPtr _p_ptr, StateBlockPtr _o_ptr = nullptr);
- virtual ~LandmarkBase();
+ ~LandmarkBase() override;
virtual void remove(bool viral_remove_empty_parent=false);
virtual YAML::Node saveToYaml() const;
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index e60929801..caac2f94e 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -26,7 +26,7 @@ class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase>
public:
MapBase();
- ~MapBase();
+ ~MapBase() override;
private:
virtual LandmarkBasePtr addLandmark(LandmarkBasePtr _landmark_ptr);
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 4182e762d..dd4c37b27 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -221,7 +221,7 @@ struct ParamsProcessorBase : public ParamsBase
apply_loss_function = _server.getParam<bool>(prefix + _unique_name + "/apply_loss_function");
}
- virtual ~ParamsProcessorBase() = default;
+ ~ParamsProcessorBase() override = default;
/** maximum time difference between a Keyframe time stamp and
* a particular Capture of this processor to allow assigning
@@ -259,7 +259,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
public:
ProcessorBase(const std::string& _type, int _dim, ParamsProcessorBasePtr _params);
- virtual ~ProcessorBase();
+ ~ProcessorBase() override;
virtual void configure(SensorBasePtr _sensor) = 0;
virtual void remove();
@@ -326,7 +326,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
virtual bool permittedAuxFrame() final;
- virtual void setProblem(ProblemPtr) override;
+ void setProblem(ProblemPtr) override;
public:
/**\brief notify a new keyframe made by another processor
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index e3e504f36..e50b2f557 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -34,22 +34,22 @@ class ProcessorDiffDrive : public ProcessorOdom2d
{
public:
ProcessorDiffDrive(ParamsProcessorDiffDrivePtr _params_motion);
- virtual ~ProcessorDiffDrive();
- virtual void configure(SensorBasePtr _sensor) override;
+ ~ProcessorDiffDrive() override;
+ void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
WOLF_PROCESSOR_CREATE(ProcessorDiffDrive, ParamsProcessorDiffDrive);
protected:
// Motion integration
- 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 CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
const SensorBasePtr& _sensor,
const TimeStamp& _ts,
const VectorXd& _data,
@@ -57,11 +57,11 @@ class ProcessorDiffDrive : public ProcessorOdom2d
const VectorXd& _calib,
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin) override;
- virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override;
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
+ FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override;
+ FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
CaptureBasePtr _capture_origin) 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;
protected:
ParamsProcessorDiffDrivePtr params_prc_diff_drv_selfcal_;
diff --git a/include/core/processor/processor_loopclosure.h b/include/core/processor/processor_loopclosure.h
index 4b22ba398..12e1fd878 100644
--- a/include/core/processor/processor_loopclosure.h
+++ b/include/core/processor/processor_loopclosure.h
@@ -52,46 +52,46 @@ public:
ProcessorLoopClosure(const std::string& _type, int _dim, ParamsProcessorLoopClosurePtr _params_loop_closure);
- virtual ~ProcessorLoopClosure() = default;
- virtual void configure(SensorBasePtr _sensor) override { };
+ ~ProcessorLoopClosure() override = default;
+ void configure(SensorBasePtr _sensor) override { };
protected:
/** \brief process an incoming capture
*
* The ProcessorLoopClosure is only triggered in KF (see triggerInCapture()) so this function is not called.
*/
- virtual void processCapture(CaptureBasePtr) override {};
+ void processCapture(CaptureBasePtr) override {};
/** \brief process an incoming key-frame
*
* Each derived processor should implement this function. It will be called if:
* - A new KF arrived and triggerInKF() returned true.
*/
- virtual void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override;
+ void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override;
/** \brief trigger in capture
*
* The ProcessorLoopClosure only processes incoming KF, then it returns false.
*/
- virtual bool triggerInCapture(CaptureBasePtr) const override {return false;}
+ bool triggerInCapture(CaptureBasePtr) const override {return false;}
/** \brief trigger in key-frame
*
* Returns true if processKeyFrame() should be called after the provided KF arrived.
*/
- virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tol_other) const override;
+ bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tol_other) const override;
/** \brief store key frame
*
* Returns true if the key frame should be stored
*/
- virtual bool storeKeyFrame(FrameBasePtr) override;
+ bool storeKeyFrame(FrameBasePtr) override;
/** \brief store capture
*
* Returns true if the capture should be stored
*/
- virtual bool storeCapture(CaptureBasePtr) override;
+ bool storeCapture(CaptureBasePtr) override;
/** \brief Called by process(). Tells if computeFeatures() will be called
*/
@@ -172,7 +172,7 @@ protected:
*
* WARNING! This function only votes! It does not create KeyFrames!
*/
- virtual bool voteForKeyFrame() const override
+ bool voteForKeyFrame() const override
{
return false;
};
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 8533e66ca..953b9723b 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -159,15 +159,15 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
SizeEigen _data_size,
SizeEigen _calib_size,
ParamsProcessorMotionPtr _params_motion);
- virtual ~ProcessorMotion();
+ ~ProcessorMotion() override;
// Instructions to the processor:
virtual void resetDerived();
// Queries to the processor:
- virtual TimeStamp getTimeStamp() const override;
- virtual VectorComposite getState() const override;
- virtual VectorComposite getState(const TimeStamp& _ts) const override;
+ TimeStamp getTimeStamp() const override;
+ VectorComposite getState() const override;
+ VectorComposite getState(const TimeStamp& _ts) const override;
/** \brief Gets the delta preintegrated covariance from all integrations so far
* \return the delta preintegrated covariance matrix
@@ -211,39 +211,39 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
* Each derived processor should implement this function. It will be called if:
* - A new capture arrived and triggerInCapture() returned true.
*/
- virtual void processCapture(CaptureBasePtr) override;
+ void processCapture(CaptureBasePtr) override;
/** \brief process an incoming key-frame
*
* The ProcessorMotion only processes incoming captures (it is not called).
*/
- virtual void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tol_other) override {};
+ void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tol_other) override {};
/** \brief trigger in capture
*
* Returns true if processCapture() should be called after the provided capture arrived.
*/
- virtual bool triggerInCapture(CaptureBasePtr) const override {return true;}
+ bool triggerInCapture(CaptureBasePtr) const override {return true;}
/** \brief trigger in key-frame
*
* The ProcessorMotion only processes incoming captures, then it returns false.
*/
- virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tol_other) const override {return false;}
+ bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tol_other) const override {return false;}
/** \brief store key frame
*
* Returns true if the key frame should be stored
*/
- virtual bool storeKeyFrame(FrameBasePtr) override;
+ bool storeKeyFrame(FrameBasePtr) override;
/** \brief store capture
*
* Returns true if the capture should be stored
*/
- virtual bool storeCapture(CaptureBasePtr) override;
+ bool storeCapture(CaptureBasePtr) override;
- virtual bool voteForKeyFrame() const override;
+ bool voteForKeyFrame() const override;
double updateDt();
void integrateOneStep();
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index 0b873564b..de3aebb4a 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -42,41 +42,41 @@ class ProcessorOdom2d : public ProcessorMotion
{
public:
ProcessorOdom2d(ParamsProcessorOdom2dPtr _params);
- virtual ~ProcessorOdom2d();
- virtual void configure(SensorBasePtr _sensor) override { };
+ ~ProcessorOdom2d() override;
+ void configure(SensorBasePtr _sensor) override { };
// Factory method for high level API
WOLF_PROCESSOR_CREATE(ProcessorOdom2d, ParamsProcessorOdom2d);
- virtual bool voteForKeyFrame() const override;
+ bool voteForKeyFrame() const override;
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& _delta1,
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
const Eigen::VectorXd& _delta2,
const double _Dt2,
Eigen::VectorXd& _delta1_plus_delta2) const override;
- virtual void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
const Eigen::VectorXd& _delta2,
const double _Dt2,
Eigen::VectorXd& _delta1_plus_delta2,
Eigen::MatrixXd& _jacobian1,
Eigen::MatrixXd& _jacobian2) 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;
+ Eigen::VectorXd deltaZero() const override;
Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
const Eigen::VectorXd& delta_step) const override;
- virtual CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
const SensorBasePtr& _sensor,
const TimeStamp& _ts,
const VectorXd& _data,
@@ -84,11 +84,11 @@ class ProcessorOdom2d : public ProcessorMotion
const VectorXd& _calib,
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin_ptr) override;
- virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature,
+ FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
+ FactorBasePtr emplaceFactor(FeatureBasePtr _feature,
CaptureBasePtr _capture_origin) 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;
protected:
ParamsProcessorOdom2dPtr params_odom_2d_;
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index 49eaf4fad..0ff94590e 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -61,15 +61,15 @@ class ProcessorOdom3d : public ProcessorMotion
{
public:
ProcessorOdom3d(ParamsProcessorOdom3dPtr _params);
- virtual ~ProcessorOdom3d();
- virtual void configure(SensorBasePtr _sensor) override;
+ ~ProcessorOdom3d() override;
+ void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
WOLF_PROCESSOR_CREATE(ProcessorOdom3d, ParamsProcessorOdom3d);
public:
// Motion integration
- 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,
@@ -95,7 +95,7 @@ class ProcessorOdom3d : public ProcessorMotion
const Eigen::VectorXd& delta_step) const override;
bool voteForKeyFrame() const override;
- virtual CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
const SensorBasePtr& _sensor,
const TimeStamp& _ts,
const VectorXd& _data,
@@ -104,12 +104,12 @@ class ProcessorOdom3d : public ProcessorMotion
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin) override;
- virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
+ FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
+ FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
CaptureBasePtr _capture_origin) 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;
protected:
ParamsProcessorOdom3dPtr params_odom_3d_;
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 0b7197574..0f4c31800 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -112,7 +112,7 @@ class ProcessorTracker : public ProcessorBase
const StateStructure& _structure,
int _dim,
ParamsProcessorTrackerPtr _params_tracker);
- virtual ~ProcessorTracker();
+ ~ProcessorTracker() override;
StateStructure getStateStructure() const;
@@ -131,37 +131,37 @@ class ProcessorTracker : public ProcessorBase
* Each derived processor should implement this function. It will be called if:
* - A new capture arrived and triggerInCapture() returned true.
*/
- virtual void processCapture(CaptureBasePtr) override;
+ void processCapture(CaptureBasePtr) override;
/** \brief process an incoming key-frame
*
* The ProcessorTracker only processes incoming captures (it is not called).
*/
- virtual void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override {};
+ void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override {};
/** \brief trigger in capture
*
* Returns true if processCapture() should be called after the provided capture arrived.
*/
- virtual bool triggerInCapture(CaptureBasePtr) const override;
+ bool triggerInCapture(CaptureBasePtr) const override;
/** \brief trigger in key-frame
*
* The ProcessorTracker only processes incoming captures, then it returns false.
*/
- virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override {return false;}
+ bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override {return false;}
/** \brief store key frame
*
* Returns true if the key frame should be stored
*/
- virtual bool storeKeyFrame(FrameBasePtr) override;
+ bool storeKeyFrame(FrameBasePtr) override;
/** \brief store capture
*
* Returns true if the capture should be stored
*/
- virtual bool storeCapture(CaptureBasePtr) override;
+ bool storeCapture(CaptureBasePtr) override;
/** Pre-process incoming Capture
*
@@ -219,7 +219,7 @@ class ProcessorTracker : public ProcessorBase
*
* WARNING! This function only votes! It does not create KeyFrames!
*/
- virtual bool voteForKeyFrame() const override = 0;
+ bool voteForKeyFrame() const override = 0;
/** \brief Advance the incoming Capture to become the last.
*
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index b69599ef5..86fc8f35a 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -88,7 +88,7 @@ class ProcessorTrackerFeature : public ProcessorTracker
const StateStructure& _structure,
int _dim,
ParamsProcessorTrackerFeaturePtr _params_tracker_feature);
- virtual ~ProcessorTrackerFeature();
+ ~ProcessorTrackerFeature() override;
protected:
ParamsProcessorTrackerFeaturePtr params_tracker_feature_;
@@ -112,7 +112,7 @@ class ProcessorTrackerFeature : public ProcessorTracker
* - Create the factors, of the correct type, derived from FactorBase
* (through FactorAnalytic or FactorSparse).
*/
- virtual unsigned int processKnown() override;
+ unsigned int processKnown() override;
/** \brief Track provided features in \b _capture
* \param _features_in input list of features in \b last to track
@@ -148,16 +148,16 @@ class ProcessorTrackerFeature : public ProcessorTracker
*
* WARNING! This function only votes! It does not create KeyFrames!
*/
- virtual bool voteForKeyFrame() const override = 0;
+ bool voteForKeyFrame() const override = 0;
// We overload the advance and reset functions to update the lists of matches
- virtual void advanceDerived() override;
- virtual void resetDerived() override;
+ void advanceDerived() override;
+ void resetDerived() override;
/**\brief Process new Features
*
*/
- virtual unsigned int processNew(const int& _max_features) override;
+ unsigned int processNew(const int& _max_features) override;
/** \brief Detect new Features
* \param _max_features maximum number of features detected (-1: unlimited. 0: none)
@@ -191,7 +191,7 @@ class ProcessorTrackerFeature : public ProcessorTracker
/** \brief Emplaces a new factor for each correspondence between a feature in Capture \b last and a feature in Capture \b origin
*/
- virtual void establishFactors() override;
+ void establishFactors() override;
};
} // namespace wolf
diff --git a/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index 6181810bd..23f0b89fc 100644
--- a/include/core/processor/processor_tracker_landmark.h
+++ b/include/core/processor/processor_tracker_landmark.h
@@ -83,7 +83,7 @@ class ProcessorTrackerLandmark : public ProcessorTracker
ProcessorTrackerLandmark(const std::string& _type,
const StateStructure& _structure,
ParamsProcessorTrackerLandmarkPtr _params_tracker_landmark);
- virtual ~ProcessorTrackerLandmark();
+ ~ProcessorTrackerLandmark() override;
protected:
@@ -103,7 +103,7 @@ class ProcessorTrackerLandmark : public ProcessorTracker
* The function must populate the list of Features in the \b incoming Capture.
* Features need to be of the correct type, derived from FeatureBase.
*/
- virtual unsigned int processKnown();
+ unsigned int processKnown() override;
/** \brief Find provided landmarks as features in the provided capture
* \param _landmarks_in input list of landmarks to be found
@@ -130,16 +130,16 @@ class ProcessorTrackerLandmark : public ProcessorTracker
*
* WARNING! This function only votes! It does not create KeyFrames!
*/
- virtual bool voteForKeyFrame() const = 0;
+ bool voteForKeyFrame() const override = 0;
// We overload the advance and reset functions to update the lists of matches
- void advanceDerived();
- void resetDerived();
+ void advanceDerived() override;
+ void resetDerived() override;
/** \brief Process new Features
*
*/
- unsigned int processNew(const int& _max_features);
+ unsigned int processNew(const int& _max_features) override;
/** \brief Detect new Features
* \param _max_features maximum number of features detected (-1: unlimited. 0: none)
@@ -181,7 +181,7 @@ class ProcessorTrackerLandmark : public ProcessorTracker
/** \brief Emplaces a new factor for each correspondence between a feature in Capture \b last and a landmark
*/
- virtual void establishFactors();
+ void establishFactors() override;
};
}// namespace wolf
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index e1be8095b..d59daef94 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -74,7 +74,7 @@ SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXd& _ex
struct ParamsSensorBase: public ParamsBase
{
std::string prefix = "sensor/";
- virtual ~ParamsSensorBase() = default;
+ ~ParamsSensorBase() override = default;
using ParamsBase::ParamsBase;
std::string print() const
{
@@ -104,7 +104,7 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
Eigen::VectorXd noise_std_; // std of sensor noise
Eigen::MatrixXd noise_cov_; // cov matrix of noise
- virtual void setProblem(ProblemPtr _problem) final;
+ void setProblem(ProblemPtr _problem) override final;
public:
/** \brief Constructor with noise size
@@ -151,7 +151,7 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
const bool _o_dyn = false,
const bool _intr_dyn = false);
- virtual ~SensorBase();
+ ~SensorBase() override;
unsigned int id() const;
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index f84227fc6..8238139c3 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -58,7 +58,7 @@ class SensorDiffDrive : public SensorBase
SensorDiffDrive(const Eigen::VectorXd& _extrinsics,
ParamsSensorDiffDrivePtr _intrinsics);
WOLF_SENSOR_CREATE(SensorDiffDrive, ParamsSensorDiffDrive, 3);
- virtual ~SensorDiffDrive();
+ ~SensorDiffDrive() override;
ParamsSensorDiffDriveConstPtr getParams() const;
double getRadiansPerTick() const
diff --git a/include/core/sensor/sensor_odom_2d.h b/include/core/sensor/sensor_odom_2d.h
index 45499f5c5..b2a989a6f 100644
--- a/include/core/sensor/sensor_odom_2d.h
+++ b/include/core/sensor/sensor_odom_2d.h
@@ -11,7 +11,7 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsSensorOdom2d);
struct ParamsSensorOdom2d : public ParamsSensorBase
{
- virtual ~ParamsSensorOdom2d() = default;
+ ~ParamsSensorOdom2d() override = default;
double k_disp_to_disp; ///< ratio of displacement variance to displacement, for odometry noise calculation
double k_rot_to_rot; ///< ratio of rotation variance to rotation, for odometry noise calculation
@@ -46,7 +46,7 @@ class SensorOdom2d : public SensorBase
SensorOdom2d(Eigen::VectorXd _extrinsics, ParamsSensorOdom2dPtr _intrinsics);
WOLF_SENSOR_CREATE(SensorOdom2d, ParamsSensorOdom2d, 3);
- virtual ~SensorOdom2d();
+ ~SensorOdom2d() override;
/** \brief Returns displacement noise factor
*
diff --git a/include/core/sensor/sensor_odom_3d.h b/include/core/sensor/sensor_odom_3d.h
index 3d08375b4..37ec082f5 100644
--- a/include/core/sensor/sensor_odom_3d.h
+++ b/include/core/sensor/sensor_odom_3d.h
@@ -45,7 +45,7 @@ struct ParamsSensorOdom3d : public ParamsSensorBase
+ "min_disp_var: " + std::to_string(min_disp_var) + "\n"
+ "min_rot_var: " + std::to_string(min_rot_var) + "\n";
}
- virtual ~ParamsSensorOdom3d() = default;
+ ~ParamsSensorOdom3d() override = default;
};
WOLF_PTR_TYPEDEFS(SensorOdom3d);
@@ -64,7 +64,7 @@ class SensorOdom3d : public SensorBase
SensorOdom3d(const Eigen::VectorXd& _extrinsics_pq, ParamsSensorOdom3dPtr params);
WOLF_SENSOR_CREATE(SensorOdom3d, ParamsSensorOdom3d, 7);
- virtual ~SensorOdom3d();
+ ~SensorOdom3d() override;
double getDispVarToDispNoiseFactor() const;
double getDispVarToRotNoiseFactor() const;
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 3a5e61327..9b2a665fa 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -54,7 +54,7 @@ struct SolverParams: public ParamsBase
//
}
- virtual ~SolverParams() = default;
+ ~SolverParams() override = default;
};
/**
* \brief Solver manager for WOLF
diff --git a/include/core/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
index 4cec6ba23..2236c1d62 100644
--- a/include/core/state_block/local_parametrization_angle.h
+++ b/include/core/state_block/local_parametrization_angle.h
@@ -18,15 +18,15 @@ class LocalParametrizationAngle : public LocalParametrizationBase
{
public:
LocalParametrizationAngle();
- virtual ~LocalParametrizationAngle();
+ ~LocalParametrizationAngle() override;
- virtual bool plus(Eigen::Map<const Eigen::VectorXd>& _h, Eigen::Map<const Eigen::VectorXd>& _delta,
- Eigen::Map<Eigen::VectorXd>& _h_plus_delta) const;
- virtual bool computeJacobian(Eigen::Map<const Eigen::VectorXd>& _h,
- Eigen::Map<Eigen::MatrixRowXd>& _jacobian) const;
- virtual bool minus(Eigen::Map<const Eigen::VectorXd>& _x1,
+ bool plus(Eigen::Map<const Eigen::VectorXd>& _h, Eigen::Map<const Eigen::VectorXd>& _delta,
+ Eigen::Map<Eigen::VectorXd>& _h_plus_delta) const override;
+ bool computeJacobian(Eigen::Map<const Eigen::VectorXd>& _h,
+ Eigen::Map<Eigen::MatrixRowXd>& _jacobian) const override;
+ bool minus(Eigen::Map<const Eigen::VectorXd>& _x1,
Eigen::Map<const Eigen::VectorXd>& _x2,
- Eigen::Map<Eigen::VectorXd>& _x2_minus_x1);
+ Eigen::Map<Eigen::VectorXd>& _x2_minus_x1) override;
};
diff --git a/include/core/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
index f91bdacc6..30785bb2c 100644
--- a/include/core/state_block/local_parametrization_homogeneous.h
+++ b/include/core/state_block/local_parametrization_homogeneous.h
@@ -38,15 +38,15 @@ class LocalParametrizationHomogeneous : public LocalParametrizationBase
{
public:
LocalParametrizationHomogeneous();
- virtual ~LocalParametrizationHomogeneous();
+ ~LocalParametrizationHomogeneous() override;
- virtual bool plus(Eigen::Map<const Eigen::VectorXd>& _h,
+ bool plus(Eigen::Map<const Eigen::VectorXd>& _h,
Eigen::Map<const Eigen::VectorXd>& _delta,
- Eigen::Map<Eigen::VectorXd>& _h_plus_delta) const;
- virtual bool computeJacobian(Eigen::Map<const Eigen::VectorXd>& _h, Eigen::Map<Eigen::MatrixRowXd>& _jacobian) const;
- virtual bool minus(Eigen::Map<const Eigen::VectorXd>& _h1,
+ Eigen::Map<Eigen::VectorXd>& _h_plus_delta) const override;
+ bool computeJacobian(Eigen::Map<const Eigen::VectorXd>& _h, Eigen::Map<Eigen::MatrixRowXd>& _jacobian) const override;
+ bool minus(Eigen::Map<const Eigen::VectorXd>& _h1,
Eigen::Map<const Eigen::VectorXd>& _h2,
- Eigen::Map<Eigen::VectorXd>& _h2_minus_h1);
+ Eigen::Map<Eigen::VectorXd>& _h2_minus_h1) override;
};
} // namespace wolf
diff --git a/include/core/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
index 1d43ace31..75804f85d 100644
--- a/include/core/state_block/local_parametrization_quaternion.h
+++ b/include/core/state_block/local_parametrization_quaternion.h
@@ -59,20 +59,20 @@ public:
//
}
- virtual ~LocalParametrizationQuaternion()
+ ~LocalParametrizationQuaternion() override
{
//
}
- virtual bool plus(Eigen::Map<const Eigen::VectorXd>& _q,
+ bool plus(Eigen::Map<const Eigen::VectorXd>& _q,
Eigen::Map<const Eigen::VectorXd>& _delta_theta,
- Eigen::Map<Eigen::VectorXd>& _q_plus_delta_theta) const;
+ Eigen::Map<Eigen::VectorXd>& _q_plus_delta_theta) const override;
- virtual bool computeJacobian(Eigen::Map<const Eigen::VectorXd>& _q,
- Eigen::Map<Eigen::MatrixRowXd>& _jacobian) const;
- virtual bool minus(Eigen::Map<const Eigen::VectorXd>& _q1,
+ bool computeJacobian(Eigen::Map<const Eigen::VectorXd>& _q,
+ Eigen::Map<Eigen::MatrixRowXd>& _jacobian) const override;
+ bool minus(Eigen::Map<const Eigen::VectorXd>& _q1,
Eigen::Map<const Eigen::VectorXd>& _q2,
- Eigen::Map<Eigen::VectorXd>& _q2_minus_q1);
+ Eigen::Map<Eigen::VectorXd>& _q2_minus_q1) override;
};
typedef LocalParametrizationQuaternion<DQ_GLOBAL> LocalParametrizationQuaternionGlobal;
diff --git a/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index 8b714b64c..1a5fda068 100644
--- a/include/core/state_block/state_angle.h
+++ b/include/core/state_block/state_angle.h
@@ -19,7 +19,7 @@ class StateAngle : public StateBlock
public:
StateAngle(double _angle = 0.0, bool _fixed = false);
- virtual ~StateAngle();
+ ~StateAngle() override;
static StateBlockPtr create(const Eigen::VectorXd& _state, bool _fixed);
};
diff --git a/include/core/state_block/state_homogeneous_3d.h b/include/core/state_block/state_homogeneous_3d.h
index ec42d19e1..ccc45424e 100644
--- a/include/core/state_block/state_homogeneous_3d.h
+++ b/include/core/state_block/state_homogeneous_3d.h
@@ -18,10 +18,10 @@ class StateHomogeneous3d : public StateBlock
public:
StateHomogeneous3d(bool _fixed = false);
StateHomogeneous3d(const Eigen::VectorXd _state, bool _fixed = false);
- virtual ~StateHomogeneous3d();
+ ~StateHomogeneous3d() override;
- virtual void setIdentity(bool _notify = true) override;
- virtual Eigen::VectorXd identity() const override;
+ void setIdentity(bool _notify = true) override;
+ Eigen::VectorXd identity() const override;
static StateBlockPtr create(const Eigen::VectorXd& _state, bool _fixed);
};
diff --git a/include/core/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
index 153360713..d52b18c83 100644
--- a/include/core/state_block/state_quaternion.h
+++ b/include/core/state_block/state_quaternion.h
@@ -19,10 +19,10 @@ class StateQuaternion : public StateBlock
StateQuaternion(bool _fixed = false);
StateQuaternion(const Eigen::VectorXd& _state, bool _fixed = false);
StateQuaternion(const Eigen::Quaterniond& _quaternion, bool _fixed = false);
- virtual ~StateQuaternion();
+ ~StateQuaternion() override;
- virtual void setIdentity(bool _notify = true) override;
- virtual Eigen::VectorXd identity() const override;
+ void setIdentity(bool _notify = true) override;
+ Eigen::VectorXd identity() const override;
static StateBlockPtr create(const Eigen::VectorXd& _state, bool _fixed);
};
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 5fe9c6c91..152a7b40e 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -31,7 +31,7 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
public:
TrajectoryBase();
- virtual ~TrajectoryBase();
+ ~TrajectoryBase() override;
// Frames
const FrameBasePtrList& getFrameList() const;
diff --git a/include/core/tree_manager/tree_manager_base.h b/include/core/tree_manager/tree_manager_base.h
index 53ef9825a..2ffef15ed 100644
--- a/include/core/tree_manager/tree_manager_base.h
+++ b/include/core/tree_manager/tree_manager_base.h
@@ -53,7 +53,7 @@ struct ParamsTreeManagerBase : public ParamsBase
{
}
- virtual ~ParamsTreeManagerBase() = default;
+ ~ParamsTreeManagerBase() override = default;
std::string print() const
{
@@ -69,7 +69,7 @@ class TreeManagerBase : public NodeBase
params_(_params)
{}
- virtual ~TreeManagerBase(){}
+ ~TreeManagerBase() override{}
virtual void keyFrameCallback(FrameBasePtr _key_frame) = 0;
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index 8b2deec3b..0ff5f31ed 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -41,9 +41,9 @@ class TreeManagerSlidingWindow : public TreeManagerBase
{};
WOLF_TREE_MANAGER_CREATE(TreeManagerSlidingWindow, ParamsTreeManagerSlidingWindow)
- virtual ~TreeManagerSlidingWindow(){}
+ ~TreeManagerSlidingWindow() override{}
- virtual void keyFrameCallback(FrameBasePtr _key_frame) override;
+ void keyFrameCallback(FrameBasePtr _key_frame) override;
protected:
ParamsTreeManagerSlidingWindowPtr params_sw_;
diff --git a/include/core/utils/loader.h b/include/core/utils/loader.h
index 6f1a4cc68..7da10d043 100644
--- a/include/core/utils/loader.h
+++ b/include/core/utils/loader.h
@@ -17,8 +17,8 @@ class LoaderRaw: public Loader{
public:
LoaderRaw(std::string _file);
~LoaderRaw();
- void load();
- void close();
+ void load() override;
+ void close() override;
};
// class LoaderPlugin: public Loader{
// ClassLoader* resource_;
diff --git a/include/core/utils/utils_gtest.h b/include/core/utils/utils_gtest.h
index 53358effa..31564f92f 100644
--- a/include/core/utils/utils_gtest.h
+++ b/include/core/utils/utils_gtest.h
@@ -81,7 +81,7 @@ extern void ColoredPrintf(GTestColor color, const char* fmt, ...);
class TestCout : public std::stringstream
{
public:
- ~TestCout()
+ ~TestCout() override
{
PRINTF("%s\n", str().c_str());
}
diff --git a/test/dummy/factor_dummy_zero_1.h b/test/dummy/factor_dummy_zero_1.h
index 1ebe1b8fe..e0d5b37f3 100644
--- a/test/dummy/factor_dummy_zero_1.h
+++ b/test/dummy/factor_dummy_zero_1.h
@@ -28,9 +28,9 @@ class FactorDummyZero1 : public FactorAutodiff<FactorDummyZero1, 1, 1>
//
}
- virtual ~FactorDummyZero1() = default;
+ ~FactorDummyZero1() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("MOTION");
}
diff --git a/test/dummy/factor_dummy_zero_12.h b/test/dummy/factor_dummy_zero_12.h
index c60b9ce32..fc38a80ac 100644
--- a/test/dummy/factor_dummy_zero_12.h
+++ b/test/dummy/factor_dummy_zero_12.h
@@ -50,9 +50,9 @@ class FactorDummyZero12 : public FactorAutodiff<FactorDummyZero12<ID>, ID, 1, 2,
assert(id > 0 && id <= 12);
}
- virtual ~FactorDummyZero12() = default;
+ ~FactorDummyZero12() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return std::string("MOTION");
}
diff --git a/test/dummy/factor_feature_dummy.h b/test/dummy/factor_feature_dummy.h
index 48c7d66ff..e4e8dd9de 100644
--- a/test/dummy/factor_feature_dummy.h
+++ b/test/dummy/factor_feature_dummy.h
@@ -16,36 +16,36 @@ class FactorFeatureDummy : public FactorBase
bool _apply_loss_function = false,
FactorStatus _status = FAC_ACTIVE);
- virtual ~FactorFeatureDummy() = default;
+ ~FactorFeatureDummy() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return "DUMMY";
}
/** \brief Evaluate the factor given the input parameters and returning the residuals and jacobians
**/
- virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override {return true;};
+ bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override {return true;};
/** Returns a residual vector and a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr
**/
- virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override {};
+ void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& residual_, std::vector<Eigen::MatrixXd>& jacobians_) const override {};
/** \brief Returns the jacobians computation method
**/
- virtual JacobianMethod getJacobianMethod() const override {return JAC_ANALYTIC;}
+ JacobianMethod getJacobianMethod() const override {return JAC_ANALYTIC;}
/** \brief Returns a vector of pointers to the states in which this factor depends
**/
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const override {return std::vector<StateBlockPtr>(0);}
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override {return std::vector<StateBlockPtr>(0);}
/** \brief Returns the factor residual size
**/
- virtual unsigned int getSize() const override {return 0;}
+ unsigned int getSize() const override {return 0;}
/** \brief Returns the factor states sizes
**/
- virtual std::vector<unsigned int> getStateSizes() const override {return std::vector<unsigned int>({1});}
+ std::vector<unsigned int> getStateSizes() const override {return std::vector<unsigned int>({1});}
public:
static FactorBasePtr create(const FeatureBasePtr& _feature_ptr,
diff --git a/test/dummy/factor_landmark_dummy.h b/test/dummy/factor_landmark_dummy.h
index 8adcfff4e..fe48f2628 100644
--- a/test/dummy/factor_landmark_dummy.h
+++ b/test/dummy/factor_landmark_dummy.h
@@ -16,43 +16,43 @@ class FactorLandmarkDummy : public FactorBase
bool _apply_loss_function = false,
FactorStatus _status = FAC_ACTIVE);
- virtual ~FactorLandmarkDummy() = default;
+ ~FactorLandmarkDummy() override = default;
- virtual std::string getTopology() const override
+ std::string getTopology() const override
{
return "DUMMY";
}
/** \brief Evaluate the factor given the input parameters and returning the residuals and jacobians
**/
- virtual bool evaluate(double const* const* parameters,
+ bool evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const override {return true;};
/** Returns a residual vector and a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr
**/
- virtual void evaluate(const std::vector<const double*>& _states_ptr,
+ void evaluate(const std::vector<const double*>& _states_ptr,
Eigen::VectorXd& residual_,
std::vector<Eigen::MatrixXd>& jacobians_) const override {};
/** \brief Returns the jacobians computation method
**/
- virtual JacobianMethod getJacobianMethod() const override {return JAC_ANALYTIC;}
+ JacobianMethod getJacobianMethod() const override {return JAC_ANALYTIC;}
/** \brief Returns a vector of pointers to the states in which this factor depends
**/
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const override
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override
{
return std::vector<StateBlockPtr>(0);
}
/** \brief Returns the factor residual size
**/
- virtual unsigned int getSize() const override {return 0;}
+ unsigned int getSize() const override {return 0;}
/** \brief Returns the factor states sizes
**/
- virtual std::vector<unsigned int> getStateSizes() const override
+ std::vector<unsigned int> getStateSizes() const override
{
return std::vector<unsigned int>({1});
}
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index d06ac6750..12705325a 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -39,12 +39,12 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
public:
ProcessorTrackerFeatureDummy(ParamsProcessorTrackerFeatureDummyPtr _params_tracker_feature);
- virtual ~ProcessorTrackerFeatureDummy();
+ ~ProcessorTrackerFeatureDummy() override;
// Factory method for high level API
WOLF_PROCESSOR_CREATE(ProcessorTrackerFeatureDummy, ParamsProcessorTrackerFeatureDummy);
- virtual void configure(SensorBasePtr _sensor) override { };
+ void configure(SensorBasePtr _sensor) override { };
protected:
@@ -61,7 +61,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
*
* \return the number of features tracked
*/
- virtual unsigned int trackFeatures(const FeatureBasePtrList& _features_in,
+ unsigned int trackFeatures(const FeatureBasePtrList& _features_in,
const CaptureBasePtr& _capture,
FeatureBasePtrList& _features_out,
FeatureMatchMap& _feature_correspondences) override;
@@ -71,7 +71,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
* \param _incoming_feature input/output feature in incoming capture to be corrected
* \return false if the the process discards the correspondence with origin's feature
*/
- virtual bool correctFeatureDrift(const FeatureBasePtr _origin_feature,
+ bool correctFeatureDrift(const FeatureBasePtr _origin_feature,
const FeatureBasePtr _last_feature,
FeatureBasePtr _incoming_feature) override;
@@ -82,7 +82,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
*
* WARNING! This function only votes! It does not create KeyFrames!
*/
- virtual bool voteForKeyFrame() const override;
+ bool voteForKeyFrame() const override;
/** \brief Detect new Features
* \param _max_features maximum number of features detected (-1: unlimited. 0: none)
@@ -98,7 +98,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
* The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
* the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const int& _max_new_features,
+ unsigned int detectNewFeatures(const int& _max_new_features,
const CaptureBasePtr& _capture,
FeatureBasePtrList& _features_out) override;
/** \brief Emplaces a new factor
@@ -107,7 +107,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
*
* This function emplaces a factor of the appropriate type for the derived processor.
*/
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_ptr,
+ FactorBasePtr emplaceFactor(FeatureBasePtr _feature_ptr,
FeatureBasePtr _feature_other_ptr) override;
};
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 5140a2b27..58561c896 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -33,12 +33,12 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
{
public:
ProcessorTrackerLandmarkDummy(ParamsProcessorTrackerLandmarkDummyPtr _params_tracker_landmark_dummy);
- virtual ~ProcessorTrackerLandmarkDummy();
+ ~ProcessorTrackerLandmarkDummy() override;
// Factory method for high level API
WOLF_PROCESSOR_CREATE(ProcessorTrackerLandmarkDummy, ParamsProcessorTrackerLandmarkDummy);
- virtual void configure(SensorBasePtr _sensor) override { };
+ void configure(SensorBasePtr _sensor) override { };
protected:
@@ -55,7 +55,7 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
*
* \return the number of landmarks found
*/
- virtual unsigned int findLandmarks(const LandmarkBasePtrList& _landmarks_in,
+ unsigned int findLandmarks(const LandmarkBasePtrList& _landmarks_in,
const CaptureBasePtr& _capture,
FeatureBasePtrList& _features_out,
LandmarkMatchMap& _feature_landmark_correspondences) override;
@@ -67,7 +67,7 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
*
* WARNING! This function only votes! It does not create KeyFrames!
*/
- virtual bool voteForKeyFrame() const override;
+ bool voteForKeyFrame() const override;
/** \brief Detect new Features
* \param _max_features maximum number of features detected (-1: unlimited. 0: none)
@@ -83,7 +83,7 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
* The function is called in ProcessorTrackerLandmark::processNew() to set the member new_features_last_,
* the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const int& _max_new_features,
+ unsigned int detectNewFeatures(const int& _max_new_features,
const CaptureBasePtr& _capture,
FeatureBasePtrList& _features_out) override;
@@ -91,7 +91,7 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
*
* Implement in derived classes to build the type of landmark you need for this tracker.
*/
- virtual LandmarkBasePtr emplaceLandmark(FeatureBasePtr _feature_ptr) override;
+ LandmarkBasePtr emplaceLandmark(FeatureBasePtr _feature_ptr) override;
/** \brief Emplace a new factor
* \param _feature_ptr pointer to the Feature to constrain
@@ -99,7 +99,7 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
*
* Implement this method in derived classes.
*/
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_ptr,
+ FactorBasePtr emplaceFactor(FeatureBasePtr _feature_ptr,
LandmarkBasePtr _landmark_ptr) override;
};
diff --git a/test/dummy/solver_manager_dummy.h b/test/dummy/solver_manager_dummy.h
index fe62d065c..15db720a3 100644
--- a/test/dummy/solver_manager_dummy.h
+++ b/test/dummy/solver_manager_dummy.h
@@ -51,10 +51,10 @@ class SolverManagerDummy : public SolverManager
return state_block_local_param_.find(st) != state_block_local_param_.end();
};
- virtual void computeCovariances(const CovarianceBlocksToBeComputed blocks) override {};
- virtual void computeCovariances(const std::vector<StateBlockPtr>& st_list) override {};
- virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) override {return true;};
- virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const override {return true;};
+ void computeCovariances(const CovarianceBlocksToBeComputed blocks) override {};
+ void computeCovariances(const std::vector<StateBlockPtr>& st_list) override {};
+ bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr) override {return true;};
+ bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const override {return true;};
// The following are dummy implementations
bool hasConverged() override { return true; }
@@ -66,31 +66,31 @@ class SolverManagerDummy : public SolverManager
protected:
- virtual bool checkDerived(std::string prefix="") const override {return true;}
- virtual std::string solveDerived(const ReportVerbosity report_level) override { return std::string("");};
- virtual void addFactorDerived(const FactorBasePtr& fac_ptr) override
+ bool checkDerived(std::string prefix="") const override {return true;}
+ std::string solveDerived(const ReportVerbosity report_level) override { return std::string("");};
+ void addFactorDerived(const FactorBasePtr& fac_ptr) override
{
factors_.push_back(fac_ptr);
};
- virtual void removeFactorDerived(const FactorBasePtr& fac_ptr) override
+ void removeFactorDerived(const FactorBasePtr& fac_ptr) override
{
factors_.remove(fac_ptr);
};
- virtual void addStateBlockDerived(const StateBlockPtr& state_ptr) override
+ void addStateBlockDerived(const StateBlockPtr& state_ptr) override
{
state_block_fixed_[state_ptr] = state_ptr->isFixed();
state_block_local_param_[state_ptr] = state_ptr->getLocalParametrization();
};
- virtual void removeStateBlockDerived(const StateBlockPtr& state_ptr) override
+ void removeStateBlockDerived(const StateBlockPtr& state_ptr) override
{
state_block_fixed_.erase(state_ptr);
state_block_local_param_.erase(state_ptr);
};
- virtual void updateStateBlockStatusDerived(const StateBlockPtr& state_ptr) override
+ void updateStateBlockStatusDerived(const StateBlockPtr& state_ptr) override
{
state_block_fixed_[state_ptr] = state_ptr->isFixed();
};
- virtual void updateStateBlockLocalParametrizationDerived(const StateBlockPtr& state_ptr) override
+ void updateStateBlockLocalParametrizationDerived(const StateBlockPtr& state_ptr) override
{
if (state_ptr->getLocalParametrization() == nullptr)
state_block_local_param_.erase(state_ptr);
diff --git a/test/dummy/tree_manager_dummy.h b/test/dummy/tree_manager_dummy.h
index ce8e6379e..662c7d156 100644
--- a/test/dummy/tree_manager_dummy.h
+++ b/test/dummy/tree_manager_dummy.h
@@ -16,7 +16,7 @@ struct ParamsTreeManagerDummy : public ParamsTreeManagerBase
toy_param = _server.getParam<double>(prefix + "/toy_param");
}
- virtual ~ParamsTreeManagerDummy() = default;
+ ~ParamsTreeManagerDummy() override = default;
bool toy_param;
@@ -38,9 +38,9 @@ class TreeManagerDummy : public TreeManagerBase
{};
WOLF_TREE_MANAGER_CREATE(TreeManagerDummy, ParamsTreeManagerBase)
- virtual ~TreeManagerDummy(){}
+ ~TreeManagerDummy() override{}
- virtual void keyFrameCallback(FrameBasePtr _KF) override
+ void keyFrameCallback(FrameBasePtr _KF) override
{
n_KF_++;
};
diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp
index d2b5c7e01..454ff6dfb 100644
--- a/test/gtest_ceres_manager.cpp
+++ b/test/gtest_ceres_manager.cpp
@@ -60,7 +60,7 @@ class CeresManagerWrapper : public CeresManager
return ceres_problem_->NumResidualBlocks();
};
- bool isFactorRegistered(const FactorBasePtr& fac_ptr) const
+ bool isFactorRegistered(const FactorBasePtr& fac_ptr) const override
{
return fac_2_residual_idx_.find(fac_ptr) != fac_2_residual_idx_.end() && fac_2_costfunction_.find(fac_ptr) != fac_2_costfunction_.end();
};
diff --git a/test/gtest_factor_autodiff_distance_3d.cpp b/test/gtest_factor_autodiff_distance_3d.cpp
index e25e1505a..57235013f 100644
--- a/test/gtest_factor_autodiff_distance_3d.cpp
+++ b/test/gtest_factor_autodiff_distance_3d.cpp
@@ -36,7 +36,7 @@ class FactorAutodiffDistance3d_Test : public testing::Test
ProblemPtr problem;
CeresManagerPtr ceres_manager;
- void SetUp()
+ void SetUp() override
{
pos1 << 1, 0, 0;
pos2 << 0, 1, 0;
diff --git a/test/gtest_factor_base.cpp b/test/gtest_factor_base.cpp
index 3237da062..05c9f8c79 100644
--- a/test/gtest_factor_base.cpp
+++ b/test/gtest_factor_base.cpp
@@ -22,7 +22,7 @@ class FactorBaseTest : public testing::Test
FeatureBasePtr f0,f1;
LandmarkBasePtr L0,L1;
- virtual void SetUp()
+ void SetUp() override
{
F0 = std::make_shared<FrameBase>(KEY, 0.0, nullptr);
F1 = std::make_shared<FrameBase>(KEY, 1.0, nullptr);
@@ -71,19 +71,19 @@ class FactorDummy : public FactorBase
{
//
}
- virtual ~FactorDummy() = default;
+ ~FactorDummy() override = default;
- virtual std::string getTopology() const override {return "DUMMY";}
- virtual bool evaluate(double const* const* _parameters,
+ std::string getTopology() const override {return "DUMMY";}
+ bool evaluate(double const* const* _parameters,
double* _residuals,
double** _jacobians) const override {return true;}
- virtual void evaluate(const std::vector<const double*>& _states_ptr,
+ void evaluate(const std::vector<const double*>& _states_ptr,
Eigen::VectorXd& _residual,
std::vector<Eigen::MatrixXd>& _jacobians) const override {}
- virtual JacobianMethod getJacobianMethod() const override {return JacobianMethod::JAC_ANALYTIC;}
- virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const override {std::vector<StateBlockPtr> v; return v;}
- virtual std::vector<unsigned int> getStateSizes() const override {std::vector<unsigned int> v; return v;}
- virtual unsigned int getSize() const override {return 0;}
+ JacobianMethod getJacobianMethod() const override {return JacobianMethod::JAC_ANALYTIC;}
+ std::vector<StateBlockPtr> getStateBlockPtrVector() const override {std::vector<StateBlockPtr> v; return v;}
+ std::vector<unsigned int> getStateSizes() const override {std::vector<unsigned int> v; return v;}
+ unsigned int getSize() const override {return 0;}
};
diff --git a/test/gtest_factor_block_difference.cpp b/test/gtest_factor_block_difference.cpp
index bee51d78e..9c7399657 100644
--- a/test/gtest_factor_block_difference.cpp
+++ b/test/gtest_factor_block_difference.cpp
@@ -39,7 +39,7 @@ class FixtureFactorBlockDifference : public testing::Test
protected:
- virtual void SetUp() override
+ void SetUp() override
{
// Problem and solver
problem_ = Problem::create("POV", 3);
@@ -64,7 +64,7 @@ class FixtureFactorBlockDifference : public testing::Test
Cap_ = CaptureBase::emplace<CaptureBase>(KF1_, "BlockDifference", t1);
}
- virtual void TearDown() override {}
+ void TearDown() override {}
};
TEST_F(FixtureFactorBlockDifference, CheckFactorType)
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index 0413c21cb..713fd1c1b 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -30,68 +30,68 @@ class ProcessorDiffDrivePublic : public ProcessorDiffDrive
{
//
}
- virtual void configure(SensorBasePtr _sensor)
+ void configure(SensorBasePtr _sensor) override
{
Base::configure(_sensor);
}
- 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
+ Eigen::MatrixXd& _jacobian_calib) const override
{
Base::computeCurrentDelta(_data, _data_cov, _calib, _dt, _delta, _delta_cov, _jacobian_calib);
}
- virtual void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
const Eigen::VectorXd& _delta2,
const double _dt2,
- Eigen::VectorXd& _delta1_plus_delta2) const
+ Eigen::VectorXd& _delta1_plus_delta2) const override
{
Base::deltaPlusDelta(_delta1, _delta2, _dt2, _delta1_plus_delta2);
}
- virtual void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
const Eigen::VectorXd& _delta2,
const double _dt2,
Eigen::VectorXd& _delta1_plus_delta2,
Eigen::MatrixXd& _jacobian1,
- Eigen::MatrixXd& _jacobian2) const
+ Eigen::MatrixXd& _jacobian2) const override
{
Base::deltaPlusDelta(_delta1, _delta2, _dt2, _delta1_plus_delta2, _jacobian1, _jacobian2);
}
- virtual VectorXd getCalibration (const CaptureBasePtr _capture) const
+ VectorXd getCalibration (const CaptureBasePtr _capture) const override
{
return Base::getCalibration(_capture);
}
- virtual Eigen::VectorXd deltaZero() const
+ Eigen::VectorXd deltaZero() const override
{
return Base::deltaZero();
}
- virtual CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
const SensorBasePtr& _sensor,
const TimeStamp& _ts,
const VectorXd& _data,
const MatrixXd& _data_cov,
const VectorXd& _calib,
const VectorXd& _calib_preint,
- const CaptureBasePtr& _capture_origin)
+ const CaptureBasePtr& _capture_origin) override
{
return Base::emplaceCapture(_frame_own, _sensor, _ts, _data, _data_cov, _calib, _calib_preint, _capture_origin);
}
- virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own)
+ FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override
{
return Base::emplaceFeature(_capture_own);
}
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
- CaptureBasePtr _capture_origin)
+ FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
+ CaptureBasePtr _capture_origin) override
{
return Base::emplaceFactor(_feature_motion, _capture_origin);
}
@@ -132,7 +132,7 @@ class FactorDiffDriveTest : public testing::Test
Vector3d calib;
Vector3d residual;
- virtual void SetUp()
+ void SetUp() override
{
problem = Problem::create("PO", 2);
trajectory = problem->getTrajectory();
@@ -206,7 +206,7 @@ class FactorDiffDriveTest : public testing::Test
startup_config_for_all_tests();
}
- virtual void TearDown()
+ void TearDown() override
{
}
diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp
index 111ccd08d..4e3d61010 100644
--- a/test/gtest_has_state_blocks.cpp
+++ b/test/gtest_has_state_blocks.cpp
@@ -30,7 +30,7 @@ class HasStateBlocksTest : public testing::Test
StateQuaternionPtr sbo0, sbo1;
- virtual void SetUp()
+ void SetUp() override
{
problem = Problem::create("POV", 3);
@@ -45,7 +45,7 @@ class HasStateBlocksTest : public testing::Test
F1 = std::make_shared<FrameBase>(NON_ESTIMATED, 1.0, nullptr); // non KF
}
- virtual void TearDown(){}
+ void TearDown() override{}
};
diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp
index 32bcd10d0..056fbcf0b 100644
--- a/test/gtest_pack_KF_buffer.cpp
+++ b/test/gtest_pack_KF_buffer.cpp
@@ -32,7 +32,7 @@ class BufferPackKeyFrameTest : public testing::Test
TimeStamp timestamp;
double timetolerance;
- void SetUp(void)
+ void SetUp(void) override
{
f10 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(10),nullptr,nullptr,nullptr);
f20 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(20),nullptr,nullptr,nullptr);
diff --git a/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp
index ee908013b..b13061e65 100644
--- a/test/gtest_processor_diff_drive.cpp
+++ b/test/gtest_processor_diff_drive.cpp
@@ -25,71 +25,71 @@ class ProcessorDiffDrivePublic : public ProcessorDiffDrive
{
//
}
- virtual void configure(SensorBasePtr _sensor)
+ void configure(SensorBasePtr _sensor) override
{
Base::configure(_sensor);
}
- 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
+ Eigen::MatrixXd& _jacobian_calib) const override
{
Base::computeCurrentDelta(_data, _data_cov, _calib, _dt, _delta, _delta_cov, _jacobian_calib);
}
- virtual void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
const Eigen::VectorXd& _delta2,
const double _dt2,
- Eigen::VectorXd& _delta1_plus_delta2) const
+ Eigen::VectorXd& _delta1_plus_delta2) const override
{
Base::deltaPlusDelta(_delta1, _delta2, _dt2, _delta1_plus_delta2);
}
- virtual void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
const Eigen::VectorXd& _delta2,
const double _dt2,
Eigen::VectorXd& _delta1_plus_delta2,
Eigen::MatrixXd& _jacobian1,
- Eigen::MatrixXd& _jacobian2) const
+ Eigen::MatrixXd& _jacobian2) const override
{
Base::deltaPlusDelta(_delta1, _delta2, _dt2, _delta1_plus_delta2, _jacobian1, _jacobian2);
}
- virtual void statePlusDelta(const VectorComposite& _x,
+ void statePlusDelta(const VectorComposite& _x,
const Eigen::VectorXd& _delta,
const double _dt,
- VectorComposite& _x_plus_delta) const
+ VectorComposite& _x_plus_delta) const override
{
Base::statePlusDelta(_x, _delta, _dt, _x_plus_delta);
}
- virtual Eigen::VectorXd deltaZero() const
+ Eigen::VectorXd deltaZero() const override
{
return Base::deltaZero();
}
- virtual CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
const SensorBasePtr& _sensor,
const TimeStamp& _ts,
const VectorXd& _data,
const MatrixXd& _data_cov,
const VectorXd& _calib,
const VectorXd& _calib_preint,
- const CaptureBasePtr& _capture_origin)
+ const CaptureBasePtr& _capture_origin) override
{
return Base::emplaceCapture(_frame_own, _sensor, _ts, _data, _data_cov, _calib, _calib_preint, _capture_origin);
}
- virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own)
+ FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override
{
return Base::emplaceFeature(_capture_own);
}
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
- CaptureBasePtr _capture_origin)
+ FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
+ CaptureBasePtr _capture_origin) override
{
return Base::emplaceFactor(_feature_motion, _capture_origin);
}
@@ -115,7 +115,7 @@ class ProcessorDiffDriveTest : public testing::Test
ProcessorDiffDrivePublicPtr processor;
ProblemPtr problem;
- virtual void SetUp()
+ void SetUp() override
{
problem = Problem::create("PO", 2);
@@ -139,7 +139,7 @@ class ProcessorDiffDriveTest : public testing::Test
processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(problem->installProcessor("ProcessorDiffDrive", "processor diff drive", sensor, params));
}
- virtual void TearDown(){}
+ void TearDown() override{}
};
diff --git a/test/gtest_processor_loopclosure.cpp b/test/gtest_processor_loopclosure.cpp
index 9b8683f8b..90d55137f 100644
--- a/test/gtest_processor_loopclosure.cpp
+++ b/test/gtest_processor_loopclosure.cpp
@@ -29,10 +29,10 @@ public:
std::pair<FrameBasePtr,CaptureBasePtr> public_selectPairKC(){ return selectPairKC();};
protected:
- virtual bool voteComputeFeatures() override { return true;};
- virtual bool voteSearchLoopClosure() override { return true;};
- virtual bool detectFeatures(CaptureBasePtr cap) override { return true;};
- virtual CaptureBasePtr findLoopCandidate(CaptureBasePtr _capture) override
+ bool voteComputeFeatures() override { return true;};
+ bool voteSearchLoopClosure() override { return true;};
+ bool detectFeatures(CaptureBasePtr cap) override { return true;};
+ CaptureBasePtr findLoopCandidate(CaptureBasePtr _capture) override
{
for (FrameBasePtr kf : getProblem()->getTrajectory()->getFrameList())
if (kf->isKey())
@@ -41,7 +41,7 @@ protected:
return cap;
return nullptr;
};
- virtual void emplaceFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) override
+ void emplaceFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) override
{
std::cout << "factor created\n";
*factor_created = true;
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index 509f495c1..509c20d6e 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -25,7 +25,7 @@ class ProcessorOdom2dPublic : public ProcessorOdom2d
{
//
}
- virtual ~ProcessorOdom2dPublic(){}
+ ~ProcessorOdom2dPublic() override{}
void splitBuffer(const wolf::CaptureMotionPtr& capture_source,
TimeStamp ts_split,
@@ -56,7 +56,7 @@ class ProcessorMotion_test : public testing::Test{
// dt(0)
// { }
- virtual void SetUp()
+ void SetUp() override
{
std::string wolf_root = _WOLF_ROOT_DIR;
@@ -74,7 +74,7 @@ class ProcessorMotion_test : public testing::Test{
capture = std::make_shared<CaptureMotion>("CaptureOdom2d", 0.0, sensor, data, data_cov, nullptr);
}
- virtual void TearDown(){}
+ void TearDown() override{}
};
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index 604cd09b4..6238a5786 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -74,9 +74,9 @@ class ProcessorTrackerFeatureDummyTest : public testing::Test
ParamsProcessorTrackerFeatureDummyPtr params;
ProcessorTrackerFeatureDummyDummyPtr processor;
- virtual ~ProcessorTrackerFeatureDummyTest(){}
+ ~ProcessorTrackerFeatureDummyTest() override{}
- virtual void SetUp()
+ void SetUp() override
{
// Wolf problem
problem = Problem::create("PO", 2);
diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp
index 8963211c4..44dfbdf14 100644
--- a/test/gtest_processor_tracker_landmark_dummy.cpp
+++ b/test/gtest_processor_tracker_landmark_dummy.cpp
@@ -92,9 +92,9 @@ class ProcessorTrackerLandmarkDummyTest : public testing::Test
ParamsProcessorTrackerLandmarkDummyPtr params;
ProcessorTrackerLandmarkDummyDummyPtr processor;
- virtual ~ProcessorTrackerLandmarkDummyTest(){}
+ ~ProcessorTrackerLandmarkDummyTest() override{}
- virtual void SetUp()
+ void SetUp() override
{
// Wolf problem
problem = Problem::create("PO", 2);
diff --git a/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp
index b2d5217f4..9506f844b 100644
--- a/test/gtest_shared_from_this.cpp
+++ b/test/gtest_shared_from_this.cpp
@@ -13,7 +13,7 @@ class CParentBase : public wolf::NodeBase
NodeBase("")
{};
- virtual ~CParentBase(){};
+ ~CParentBase() override{};
virtual void addChild(std::shared_ptr<CChildBase> _child_ptr) final
{
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index 5b333f26c..4e539e24b 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -23,7 +23,7 @@ class TrackMatrixTest : public testing::Test
CaptureBasePtr C0, C1, C2, C3, C4;
FeatureBasePtr f0, f1, f2, f3, f4;
- virtual void SetUp()
+ void SetUp() override
{
// unlinked captures
// Some warnings will be thrown "linking with nullptr" for emplacing without providing frame pointer
--
GitLab