Merge remote-tracking branch 'origin/devel' into...

Merge remote-tracking branch 'origin/devel' into 335-copying-measurement-and-sqrtinfo-in-factorbase-multi-threading

CMakeLists.txt

@@ -443,6 +443,9 @@ ADD_LIBRARY(${PROJECT_NAME}
   ${SRCS_WRAPPER}
   ${SRCS_YAML}
   )
+  
+# Set compiler options
+# ====================  
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
   message(STATUS "Using C++ compiler clang")
   target_compile_options(${PROJECT_NAME} PRIVATE -Winconsistent-missing-override)

test/dummy/solver_manager_dummy.h

@@ -26,7 +26,7 @@ class SolverManagerDummy : public SolverManager
         {
         };
 
-        bool isStateBlockRegistered(const StateBlockPtr& st)
+        bool isStateBlockRegistered(const StateBlockPtr& st) override
         {
             return state_blocks_.find(st)!=state_blocks_.end();
         };
@@ -36,7 +36,7 @@ class SolverManagerDummy : public SolverManager
             return state_block_fixed_.at(st);
         };
 
-        bool isFactorRegistered(const FactorBasePtr& fac_ptr) const
+        bool isFactorRegistered(const FactorBasePtr& fac_ptr) const override
         {
             return std::find(factors_.begin(), factors_.end(), fac_ptr) != factors_.end();
         };
@@ -51,46 +51,46 @@ class SolverManagerDummy : public SolverManager
             return state_block_local_param_.find(st) != state_block_local_param_.end();
         };
 
-        virtual void computeCovariances(const CovarianceBlocksToBeComputed blocks){};
-        virtual void computeCovariances(const std::vector<StateBlockPtr>& st_list){};
-        virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr){return true;};
-        virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const {return true;};
+        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;};
 
         // The following are dummy implementations
-        bool    hasConverged()  { return true;      }
-        SizeStd iterations()    { return 1;         }
-        double  initialCost()   { return double(1); }
-        double  finalCost()     { return double(0); }
+        bool    hasConverged() override  { return true;      }
+        SizeStd iterations() override    { return 1;         }
+        double  initialCost() override   { return double(1); }
+        double  finalCost() override     { return double(0); }
 
 
 
     protected:
 
         virtual bool checkDerived(std::string prefix="") const override {return true;}
-        virtual std::string solveDerived(const ReportVerbosity report_level){ return std::string("");};
-        virtual void addFactorDerived(const FactorBasePtr& fac_ptr)
+        virtual std::string solveDerived(const ReportVerbosity report_level) override { return std::string("");};
+        virtual void addFactorDerived(const FactorBasePtr& fac_ptr) override
         {
             factors_.push_back(fac_ptr);
         };
-        virtual void removeFactorDerived(const FactorBasePtr& fac_ptr)
+        virtual void removeFactorDerived(const FactorBasePtr& fac_ptr) override
         {
             factors_.remove(fac_ptr);
         };
-        virtual void addStateBlockDerived(const StateBlockPtr& state_ptr)
+        virtual 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)
+        virtual 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)
+        virtual void updateStateBlockStatusDerived(const StateBlockPtr& state_ptr) override
         {
             state_block_fixed_[state_ptr] = state_ptr->isFixed();
         };
-        virtual void updateStateBlockLocalParametrizationDerived(const StateBlockPtr& state_ptr)
+        virtual void updateStateBlockLocalParametrizationDerived(const StateBlockPtr& state_ptr) override
         {
             if (state_ptr->getLocalParametrization() == nullptr)
                 state_block_local_param_.erase(state_ptr);