diff --git a/demos/hello_wolf/capture_range_bearing.h b/demos/hello_wolf/capture_range_bearing.h
index 8bc32a93d452629b5c69358c5d751c070eeba1a6..10fb8fa05f14fc4801effce4fb734c90a9ea2e90 100644
--- a/demos/hello_wolf/capture_range_bearing.h
+++ b/demos/hello_wolf/capture_range_bearing.h
@@ -21,7 +21,7 @@ class CaptureRangeBearing : public CaptureBase
 {
     public:
         CaptureRangeBearing(const TimeStamp& _ts, const SensorBasePtr& _scanner, const Eigen::VectorXi& _ids, const Eigen::VectorXd& _ranges, const Eigen::VectorXd& _bearings);
-        virtual ~CaptureRangeBearing();
+        ~CaptureRangeBearing() override;
 
         const VectorXi&         getIds          ()          const;
         const int&              getId           (int _i)    const;
diff --git a/demos/hello_wolf/factor_range_bearing.h b/demos/hello_wolf/factor_range_bearing.h
index 226a6335e7966a0d3bdd7042c017913bc64b419b..978f88846d5dee608a47a01c101676a0bfd23037 100644
--- a/demos/hello_wolf/factor_range_bearing.h
+++ b/demos/hello_wolf/factor_range_bearing.h
@@ -45,12 +45,12 @@ class FactorRangeBearing : public FactorAutodiff<FactorRangeBearing, 2, 2, 1, 2,
             //
         }
 
-        virtual ~FactorRangeBearing()
+        ~FactorRangeBearing() override
         {
             //
         }
 
-        virtual std::string getTopology() const override
+        std::string getTopology() const override
         {
             return "LMK";
         }
diff --git a/demos/hello_wolf/feature_range_bearing.h b/demos/hello_wolf/feature_range_bearing.h
index 8571a8fb933976c740440c9d4d9ba8a2fb3d8f20..b924d29eea0a22a80267ace90718f9a66f54dac1 100644
--- a/demos/hello_wolf/feature_range_bearing.h
+++ b/demos/hello_wolf/feature_range_bearing.h
@@ -19,7 +19,7 @@ class FeatureRangeBearing : public FeatureBase
 {
     public:
         FeatureRangeBearing(const Eigen::VectorXd& _measurement, const Eigen::MatrixXd& _meas_covariance);
-        virtual ~FeatureRangeBearing();
+        ~FeatureRangeBearing() override;
 };
 
 } // namespace wolf
diff --git a/demos/hello_wolf/landmark_point_2d.h b/demos/hello_wolf/landmark_point_2d.h
index 0ec660c9e70944a8de9dd152649dc78d8a85b86b..79287af069fb5b5da0ef7186333b90fc18664bbb 100644
--- a/demos/hello_wolf/landmark_point_2d.h
+++ b/demos/hello_wolf/landmark_point_2d.h
@@ -19,7 +19,7 @@ class LandmarkPoint2d : public LandmarkBase
 {
     public:
         LandmarkPoint2d(int _id, const Eigen::Vector2d& _xy);
-        virtual ~LandmarkPoint2d();
+        ~LandmarkPoint2d() override;
 };
 
 } /* namespace wolf */
diff --git a/demos/hello_wolf/processor_range_bearing.h b/demos/hello_wolf/processor_range_bearing.h
index 1203b217e4f07c3e02a287f63b0bace4ba46ede2..bdcefb3a7141627523a6f2111307fc776abbadbb 100644
--- a/demos/hello_wolf/processor_range_bearing.h
+++ b/demos/hello_wolf/processor_range_bearing.h
@@ -46,31 +46,31 @@ class ProcessorRangeBearing : public ProcessorBase
         typedef Eigen::Transform<double, 2, Eigen::Isometry> Trf;
 
         ProcessorRangeBearing(ParamsProcessorBasePtr _params);
-        virtual ~ProcessorRangeBearing() {/* empty */}
-        virtual void configure(SensorBasePtr _sensor) override;
+        ~ProcessorRangeBearing() override {/* empty */}
+        void configure(SensorBasePtr _sensor) override;
 
         // Factory method for high level API
         WOLF_PROCESSOR_CREATE(ProcessorRangeBearing, ParamsProcessorRangeBearing);
 
     protected:
         // Implementation of pure virtuals from ProcessorBase
-        virtual void processCapture     (CaptureBasePtr _capture) override;
-        virtual void processKeyFrame    (FrameBasePtr _keyframe_ptr, const double& _time_tol_other) override {};
-        virtual bool triggerInCapture   (CaptureBasePtr) const override { return true;};
-        virtual bool triggerInKeyFrame  (FrameBasePtr _keyframe_ptr, const double& _time_tol_other) const override {return false;}
-        virtual bool voteForKeyFrame    () const override {return false;}
+        void processCapture     (CaptureBasePtr _capture) override;
+        void processKeyFrame    (FrameBasePtr _keyframe_ptr, const double& _time_tol_other) override {};
+        bool triggerInCapture   (CaptureBasePtr) const override { return true;};
+        bool triggerInKeyFrame  (FrameBasePtr _keyframe_ptr, const double& _time_tol_other) const override {return false;}
+        bool voteForKeyFrame    () 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;
 
     private:
         // control variables
diff --git a/demos/hello_wolf/sensor_range_bearing.h b/demos/hello_wolf/sensor_range_bearing.h
index 491efff4f533edc993051482de7d0e84562a790a..59c217fe0f3f9f5f70973dca8a2ef4b060a6696a 100644
--- a/demos/hello_wolf/sensor_range_bearing.h
+++ b/demos/hello_wolf/sensor_range_bearing.h
@@ -45,7 +45,7 @@ class SensorRangeBearing : public SensorBase
         SensorRangeBearing(const Eigen::VectorXd& _extrinsics, const Eigen::Vector2d& _noise_std);
         SensorRangeBearing(const Eigen::VectorXd& _extrinsics, const ParamsSensorRangeBearingPtr _intr);
         WOLF_SENSOR_CREATE(SensorRangeBearing, ParamsSensorRangeBearing, 3);
-        virtual ~SensorRangeBearing();
+        ~SensorRangeBearing() override;
 
 };
 
diff --git a/include/core/factor/factor_odom_2d_closeloop.h b/include/core/factor/factor_odom_2d_closeloop.h
index a4ea7b1dff8484a89885edd424a6ac899331d3d7..16f1d677024f4dd97968dbfda45c0e3aaca82723 100644
--- a/include/core/factor/factor_odom_2d_closeloop.h
+++ b/include/core/factor/factor_odom_2d_closeloop.h
@@ -35,7 +35,7 @@ class FactorOdom2dCloseloop : public FactorAutodiff<FactorOdom2dCloseloop, 3, 2,
 
         virtual ~FactorOdom2dCloseloop() = default;
 
-        virtual std::string getTopology() const override
+        std::string getTopology() const override
         {
             return std::string("LOOP");
         }