Merge branch 'master' of https://gitlab.iri.upc.edu/mobile_robotics/wolf

src/CMakeLists.txt

@@ -50,7 +50,7 @@ IF(laser_scan_utils_FOUND)
     MESSAGE("laser_scan_utils Library FOUND: laser_scan_utils related sources will be built.")
 ENDIF(laser_scan_utils_FOUND)
 
-FIND_PACKAGE(raw_gps_utils ) #raw_gps_utils is not required
+FIND_PACKAGE(raw_gps_utils QUIET) #raw_gps_utils is not required
 IF(raw_gps_utils_FOUND)
     MESSAGE("raw_gps_utils Library FOUND: raw_gps_utils related sources will be built.")
 ENDIF(raw_gps_utils_FOUND)

src/constraint_analytic.h

@@ -129,7 +129,7 @@ class ConstraintAnalytic: public ConstraintBase
         /** \brief Evaluate the constraint given the input parameters and returning the residuals and jacobians
         **/
         // TODO
-        virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const
+        virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const override
         {
             // load parameters evaluation value
             std::vector<Eigen::Map<const Eigen::VectorXs>> state_blocks_map_;
@@ -166,7 +166,7 @@ class ConstraintAnalytic: public ConstraintBase
         /** Returns the residual vetor and a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr
          **/
         // TODO
-        virtual void evaluate(const std::vector<const Scalar*>& _states_ptr, Eigen::VectorXs& residual_, std::vector<Eigen::MatrixXs>& jacobians_) const
+        virtual void evaluate(const std::vector<const Scalar*>& _states_ptr, Eigen::VectorXs& residual_, std::vector<Eigen::MatrixXs>& jacobians_) const override
         {
         };
 

src/constraint_epipolar.h

@@ -22,11 +22,11 @@ class ConstraintEpipolar : public ConstraintBase
 
         /** \brief Evaluate the constraint given the input parameters and returning the residuals and jacobians
         **/
-        virtual bool evaluate(double const* const* parameters, double* residuals, double** jacobians) const{return true;};
+        virtual 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 Scalar*>& _states_ptr, Eigen::VectorXs& residual_, std::vector<Eigen::MatrixXs>& jacobians_) const{};
+        virtual void evaluate(const std::vector<const Scalar*>& _states_ptr, Eigen::VectorXs& residual_, std::vector<Eigen::MatrixXs>& jacobians_) const override {};
         /** \brief Returns the jacobians computation method
          **/
         virtual JacobianMethod getJacobianMethod() const override {return JAC_ANALYTIC;}
@@ -45,7 +45,7 @@ class ConstraintEpipolar : public ConstraintBase
 
         /** \brief Returns the constraint states sizes
          **/
-        virtual std::vector<unsigned int> getStateSizes() const{return std::vector<unsigned int>({1});}
+        virtual std::vector<unsigned int> getStateSizes() const override {return std::vector<unsigned int>({1});}
 
     public:
         static wolf::ConstraintBasePtr create(const FeatureBasePtr& _feature_ptr,

src/constraint_relative_2D_analytic.h

@@ -59,7 +59,7 @@ class ConstraintRelative2DAnalytic : public ConstraintAnalytic
          * Returns the residual evaluated in the states provided in a std::vector of mapped Eigen::VectorXs
          **/
         virtual Eigen::VectorXs evaluateResiduals(
-                const std::vector<Eigen::Map<const Eigen::VectorXs> >& _st_vector) const;
+                const std::vector<Eigen::Map<const Eigen::VectorXs> >& _st_vector) const override;
 
         /** \brief Returns the jacobians evaluated in the states provided
          *
@@ -73,14 +73,14 @@ class ConstraintRelative2DAnalytic : public ConstraintAnalytic
          **/
         virtual void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXs> >& _st_vector,
                                        std::vector<Eigen::Map<Eigen::MatrixXs> >& jacobians,
-                                       const std::vector<bool>& _compute_jacobian) const;
+                                       const std::vector<bool>& _compute_jacobian) const override;
 
         /** \brief Returns the pure jacobians (without measurement noise) evaluated in the state blocks values
          * \param _st_vector is a vector containing the mapped eigen vectors of all state blocks involved in the constraint
          * \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::MatrixXs>& jacobians) const;
+        virtual void evaluatePureJacobians(std::vector<Eigen::MatrixXs>& jacobians) const override;
 
         /** \brief Returns the jacobians computation method
          **/