Several fixes for Mac

These fixes should be useful for all, even non-Mac.

They relate to either forgotten #includes, forgotten override keywords, or forgotten const keywords. They all caused compilation errors in my MacBook.

test/gtest_emplace.cpp

@@ -83,10 +83,8 @@ TEST(Emplace, Feature)
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getFrame()->getTrajectory()->getProblem());
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getProblem());
     ASSERT_EQ(frm, frm->getCaptureList().front()->getFrame());
-    auto cov = Eigen::MatrixXs(2,2);
-    cov(0,0) = 1;
-    cov(1,1) = 1;
-    FeatureBase::emplace<FeatureBase>(cpt, "Dummy", Eigen::VectorXs(5), cov);
+    auto cov = Eigen::MatrixXs::Identity(2,2);
+    FeatureBase::emplace<FeatureBase>(cpt, "Dummy", Eigen::VectorXs(2), cov);
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getFeatureList().front()->getCapture()->getFrame()->getTrajectory()->getProblem());
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getFeatureList().front()->getProblem());
     ASSERT_EQ(cpt, cpt->getFeatureList().front()->getCapture());
@@ -103,10 +101,8 @@ TEST(Emplace, Factor)
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getFrame()->getTrajectory()->getProblem());
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getProblem());
     ASSERT_EQ(frm, frm->getCaptureList().front()->getFrame());
-    auto cov = Eigen::MatrixXs(2,2);
-    cov(0,0) = 1;
-    cov(1,1) = 1;
-    auto ftr = FeatureBase::emplace<FeatureOdom2D>(cpt, Eigen::VectorXs(5), cov);
+    auto cov = Eigen::MatrixXs::Identity(2,2);
+    auto ftr = FeatureBase::emplace<FeatureOdom2D>(cpt, Eigen::VectorXs(2), cov);
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getFeatureList().front()->getCapture()->getFrame()->getTrajectory()->getProblem());
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getFeatureList().front()->getProblem());
     ASSERT_EQ(cpt, cpt->getFeatureList().front()->getCapture());
@@ -121,17 +117,15 @@ TEST(Emplace, EmplaceDerived)
     auto frm = FrameBase::emplace<FrameBase>(P->getTrajectory(),  KEY, TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
     // LandmarkBase::emplace<LandmarkBase>(MapBaseWPtr(P->getMap()),"Dummy", nullptr, nullptr);
     auto sen = SensorBase::emplace<SensorOdom2D>(P->getHardware(), Eigen::VectorXs(3), IntrinsicsOdom2D());
-    auto cov = Eigen::MatrixXs(2,2);
-    cov(0,0) = 1;
-    cov(1,1) = 1;
-    auto cpt = CaptureBase::emplace<CaptureOdom2D>(frm, TimeStamp(0), sen, Eigen::Vector6s(), cov, frm);
+    auto cov = Eigen::MatrixXs::Identity(2,2);
+    auto cpt = CaptureBase::emplace<CaptureOdom2D>(frm, TimeStamp(0), sen, Eigen::VectorXs(2), cov, frm);
     auto cpt2 = std::static_pointer_cast<CaptureOdom2D>(cpt);
     auto m = Eigen::Matrix<Scalar,9,6>();
     for(int i = 0; i < 9; i++)
         for(int j = 0; j < 6; j++)
             m(i,j) = 1;
 
-    auto ftr = FeatureBase::emplace<FeatureOdom2D>(cpt, Eigen::VectorXs(5), cov);
+    auto ftr = FeatureBase::emplace<FeatureOdom2D>(cpt, Eigen::VectorXs(2), cov);
     ASSERT_EQ(sen, P->getHardware()->getSensorList().front());
     ASSERT_EQ(P, P->getTrajectory()->getFrameList().front()->getCaptureList().front()->getFeatureList().front()->getProblem());
 }
@@ -143,4 +137,4 @@ int main(int argc, char **argv)
 {
   testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
-}
\ No newline at end of file
+}