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;

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";
         }

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

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 */

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

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;
 
 };
 

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);

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

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,

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;
 
 };
 

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;
 
 };
 

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();
 

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;
 
 };
 

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()

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;
 };

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;
 };

include/core/common/factory.h

@@ -25,42 +25,68 @@ namespace wolf
 
 /** \brief Singleton template factory
  *
- * This class implements a generic factory as a singleton.
- *
- * > IMPORTANT: This template factory can be used to construct many different objects except:
- * >   - Objects deriving from SensorBase --> see FactorySensor
- * >   - Objects deriving from ProcessorBase --> see FactoryProcessor
- * >
- * > The reason for this is that the two cases above need a more elaborated API than the one in this template class.
+ * This template class implements a generic factory as a singleton.
  *
  * \param TypeBase          base type of all the objects created by the factory
- * \param TypeInput         type of the input argument. Typical cases are std::string for file names, and YAML::Node for YAML nodes.
+ * \param TypeInput         variadic type for the input arguments.
+ *
+ * ### Template specialization
  *
  * - The class is templatized on the class of the produced objects, __TypeBase__.
  *   The produced objects are always of a class deriving from TypeBase.
- *   The returned data is always a pointer to TypeBase.
+ *   The returned data is always a shared pointer to TypeBase.
  *
  *   For example, you may use as __TypeBase__ the following types:
  *     - LandmarkBase: the Factory creates landmarks deriving from LandmarkBase and returns base pointers ````LandmarkBasePtr```` to them
  *     - ParamsSensorBase: the Factory creates intrinsic parameters deriving from ParamsSensorBase and returns base pointers ````ParamsSensorBasePtr```` to them
  *     - XxxBase: the Factory creates objects deriving from XxxBase and returns pointers ````XxxBasePtr```` to them.
  *
- * - The class in also templatized on the type of the input parameter of the creator, __TypeInput__:
- *   - ````std::string```` is used when the input parameter is a file name from which to read data (typically a YAML file).
- *   - ````YAML::Node```` is used when the input parameter is a YAML node with structured data.
+ * - The class is variadic-templatized on the types of the input parameter of the creator, __TypeInput__:
+ *   - ````std::string````                    is used when the input parameter is a file name from which to read data (typically a YAML file).
+ *   - ````std::string, wolf::ParamsServer``` is used when nodes are build from parameters in the ParamsServer
+ *   - ````YAML::Node````                     is used when the input parameter is a YAML node with structured data.
+ *   - Any other variadic list of inputs is possible.
+ *
+ * - Examples of specific factories existing in Wolf are:
+ *   \code
+ *
+ *   // FactorySensor
+ *   typedef Factory<SensorBase,                     // Type of objects to be returned: SensorBasePtr
+ *                   const std::string&,             // Type of the sensor: name of the derived sensor class
+ *                   const Eigen::VectorXd&,         // Sensor extrinsics
+ *                   const ParamsSensorBasePtr>      // Sensor parameters
+ *           FactorySensor;
+ *
+ *   // FactoryProcessor
+ *   typedef Factory<ProcessorBase,                  // Type of object returned: ProcessorBasePtr
+ *                   const std::string&,             // Type of the processor: name of the derived processor class
+ *                   const ParamsProcessorBasePtr>   // Parameters for creating the processor
+ *           FactoryProcessor;
+ *
+ *   // AutoConfProcessorFactory
+ *   typedef Factory<ProcessorBase,                  // Type of object returned: ProcessorBasePtr
+ *                   const std::string&,             // Type of the processor: name of the derived processor class
+ *                   const ParamsServer>             // Parameters for creating the processor
+ *           AutoConfProcessorFactory;
+ *
+ *   // Landmarks from YAML
+ *   typedef Factory<LandmarkBase,                   // Type of node created: LandmarkBasePtr
+ *                   const YAML::Node&>              // YAML node with the lmk params
+ *           LandmarkFactory;
+ *   \endcode
  *
  * ### Operation of the factory
  *
  * #### Rationale
  *
- * This factory can create objects of classes deriving from TypeBase.
+ * Once specialized, this factory can create objects of classes deriving from TypeBase.
  *
  * > For example, if you want to make a Landmark factory, set TypeBase = LandmarkBase.\n
  * > Then, the factory will create specific landmarks deriving from LandmarkBase.\n
  * > The specific type of landmark (e.g. LandmarkCorner2d, LandmarkAHP, LandmarkPolyline2d, etc) is indicated by a string that we call TYPE in this documentation.
  *
  * Specific object creation is invoked by the method ````create(TYPE, params ... )````, where
- *   - the TYPE of object to create is identified with a string
+ *   - the TYPE of object to create is identified with a string. This string matches the name of the derived class.
  *   - the params may be provided in different forms -- see TypeInput.
  *
  * The methods to create specific objects are called __creators__.
@@ -75,23 +101,31 @@ namespace wolf
  *   - Examples: Write and register a landmark creator for LandmarkPolyline2d.
  *
  * #### Define correct TYPE names
- * The rule to make new TYPE strings unique is that you skip the generic 'Type' prefix from your class name,
- * and you build a string in CAPITALS with space separators, e.g.:
- *   - ParamsSensorCamera -> ````"CAMERA"````
- *   - ParamsSensorLaser2d -> ````"LASER 2d"````
- *   - LandmarkPolyline2d -> ````"POLYLINE 2d"````
+ * We use a std::string with literally the same text as the derived class name, e.g.:
+ *   - ParamsSensorCamera   -> ````"ParamsSensorCamera"````
+ *   - SensorCamera         -> ````"SensorCamera"````
+ *   - ParamsSensorLaser2d  -> ````"ParamsSensorLaser2d"````
+ *   - SensorLaser2d        -> ````"SensorLaser2d"````
+ *   - LandmarkPolyline2d   -> ````"LandmarkPolyline2d"````
  *   - etc.
  *
  * #### Access the factory
+ *
  * The first thing to know is that we have defined typedefs for the templates that we are using. For example:
  *
  * \code
- * typedef Factory<ParamsSensorBase, std::string>        FactoryParamsSensor;
- * typedef Factory<ParamsProcessorBase, std::string>   FactoryParamsProcessor;
- * typedef Factory<LandmarkBase, YAML::Node>           FactoryLandmark;
+ * typedef Factory<ParamsSensorBase, std::string>       FactoryParamsSensor;
+ * typedef Factory<ParamsProcessorBase, std::string>    FactoryParamsProcessor;
+ * typedef Factory<LandmarkBase, YAML::Node>            FactoryLandmark;
+ * typedef Factory<SensorBase,
+ *                 const std::string&,
+ *                 const Eigen::VectorXd&,
+ *                 const ParamsSensorBasePtr>           FactorySensor;
+ *
  * \endcode
  *
- * Second to know, the Factory class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>: it can only exist once in your application.
+ * Second to know, the Factory class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>:
+ * it can only exist once in your application.
  * To access it, use the static method get(),
  *
  *     \code
@@ -103,10 +137,11 @@ namespace wolf
  * You can then call the methods you like, e.g. to create a landmark, you use:
  *
  *     \code
- *     FactoryLandmark::get().create(...); // see below for creating objects ...
+ *     FactoryLandmark::get().create(TYPE, args...); // see below for creating objects ...
  *     \endcode
  *
  * #### Write creator methods (in your derived object classes)
+ *
  * The method LandmarkPolyline2d::create(...) exists in the LandmarkPolyline2d class as a static method.
  * All these ````XxxXxx::create()```` methods need to have exactly the same API, regardless of the object type.
  * The API puts into play the two template parameters:
@@ -117,13 +152,13 @@ namespace wolf
  *
  * This API includes an element of type TypeInput, which might be either a std::string, or a YAML::node:
  *   - ````std::string```` is used to indicate the name of a configuration file. These files are usually YAML files containing configuration data to create your object.
- *   - ````YAML::Node```` is used to access parts of a YAML file already encoded as nodes, such as when loading landmarks from a SLAM map stored as a YAML file.
+ *   - ````YAML::Node````  is used to access parts of a YAML file already encoded as nodes, such as when loading landmarks from a SLAM map stored as a YAML file.
  *
  * Two examples:
  *
  *      \code
  *      static ParamsSensorBasePtr create(const std::string& _intrinsics_dot_yaml)
- *      static LandmarkBasePtr   create(const YAML::Node& _lmk_yaml_node)
+ *      static LandmarkBasePtr     create(const YAML::Node&  _lmk_yaml_node)
  *      \endcode
  *
  * See further down for an implementation example.
@@ -137,7 +172,7 @@ namespace wolf
  * that knows how to create your specific object, e.g.:
  *
  *     \code
- *     FactoryLandmark::get().registerCreator("POLYLINE 2d", LandmarkPolyline2d::create);
+ *     FactoryLandmark::get().registerCreator("LandmarkPolyline2d", LandmarkPolyline2d::create);
  *     \endcode
  *
  * #### Automatic registration
@@ -145,7 +180,7 @@ namespace wolf
  * For example, in sensor_camera_yaml.cpp we find the line:
  *
  *     \code
- *     const bool registered_camera_intr = FactoryParamsSensor::get().registerCreator("CAMERA", createParamsSensorCamera);
+ *     const bool registered_camera_intr = FactoryParamsSensor::get().registerCreator("ParamsSensorCamera", createParamsSensorCamera);
  *     \endcode
  *
  * which is a static invocation (i.e., it is placed at global scope outside of the ParamsSensorCamera class).
@@ -156,7 +191,7 @@ namespace wolf
  * The method unregisterCreator() unregisters the ObjectXxx::create() method. It only needs to be passed the string of the object type.
  *
  *     \code
- *     Factory<MyTypeBase, MyTypeInput>::get().unregisterCreator("CAMERA");
+ *     Factory<MyTypeBase, MyTypeInput>::get().unregisterCreator("ParamsSensorCamera");
  *     \endcode
  *
  * #### Create objects using the factory
@@ -166,13 +201,13 @@ namespace wolf
  * To create e.g. a LandmarkPolyline2d from a YAML node you type:
  *
  *     \code
- *     LandmarkBasePtr lmk_ptr = Factory<LandmarkBasePtr, YAML::Node>::get().create("POLYLINE 2d", lmk_yaml_node);
+ *     LandmarkBasePtr lmk_ptr = Factory<LandmarkBasePtr, YAML::Node>::get().create("LandmarkPolyline2d", lmk_yaml_node);
  *     \endcode
  *
  * or even better, make use of the convenient typedefs:
  *
  *     \code
- *     LandmarkBasePtr lmk_ptr = FactoryLandmark::get().create("POLYLINE 2d", lmk_yaml_node);
+ *     LandmarkBasePtr lmk_ptr = FactoryLandmark::get().create("LandmarkPolyline2d", lmk_yaml_node);
  *     \endcode
  *
  * ### Examples
@@ -197,7 +232,7 @@ namespace wolf
  *    }
  *
  *    // Create a new landmark
- *    LandmarkBasePtr lmk_ptr = new LandmarkPolyline2d(points, first_defined, last_defined, first_id);
+ *    LandmarkBasePtr lmk_ptr = std::make_shared<LandmarkPolyline2d>(points, first_defined, last_defined, first_id);
  *    lmk_ptr->setId(id);
  *
  *    return lmk_ptr;
@@ -212,7 +247,7 @@ namespace wolf
  * // Register landmark creator (put the register code inside an unnamed namespace):
  *  namespace
  *  {
- *  const bool registered_lmk_polyline_2d = FactoryLandmark::get().registerCreator("POLYLINE 2d", LandmarkPolyline2d::create);
+ *  const bool registered_lmk_polyline_2d = FactoryLandmark::get().registerCreator("LandmarkPolyline2d", LandmarkPolyline2d::create);
  *  }
  *
  * \endcode
@@ -234,12 +269,16 @@ namespace wolf
 template<class TypeBase, typename... TypeInput>
 class Factory
 {
+    private:
         typedef std::shared_ptr<TypeBase> TypeBasePtr;
+
     public:
         // example of creator callback (see typedefs below)
         typedef TypeBasePtr (*CreatorCallback)(TypeInput... _input);
+
     private:
         typedef std::map<std::string, CreatorCallback> CallbackMap;
+
     public:
         bool registerCreator(const std::string& _type, CreatorCallback createFn);
         bool unregisterCreator(const std::string& _type);

include/core/common/wolf.h

@@ -29,15 +29,6 @@
 
 namespace wolf {
 
-/**
- * \brief scalar type for the Wolf project
- *
- * Do NEVER forget to use Wolf scalar definitions when you code!!!
- *
- * Do NEVER use plain Eigen scalar types!!! (This is redundant with the above. But just to make sure you behave!)
- */
-//typedef double double;
-
 /**
  * \brief Vector and Matrices size type for the Wolf project
  *

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();