From 0a501a561549d98181b1fc6d1d8dfb34042b2ba2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 May 2021 17:01:18 -0400
Subject: [PATCH 1/2] fix warnings from tests

---
 gtsam/geometry/CalibratedCamera.h | 18 ++++-----
 gtsam/inference/Factor.h          | 61 +++++++++++++++++--------------
 gtsam/inference/FactorGraph.h     |  4 ++
 3 files changed, 45 insertions(+), 38 deletions(-)

diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 97ebe8c7eb..1d4a379a19 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -119,22 +119,20 @@ class GTSAM_EXPORT PinholeBase {
   /// @name Standard Constructors
   /// @{
 
-  /** default constructor */
-  PinholeBase() {
-  }
+  /// Default constructor
+  PinholeBase() {}
 
-  /** constructor with pose */
-  explicit PinholeBase(const Pose3& pose) :
-      pose_(pose) {
-  }
+  /// Constructor with pose
+  explicit PinholeBase(const Pose3& pose) : pose_(pose) {}
 
   /// @}
   /// @name Advanced Constructors
   /// @{
 
-  explicit PinholeBase(const Vector &v) :
-      pose_(Pose3::Expmap(v)) {
-  }
+  explicit PinholeBase(const Vector& v) : pose_(Pose3::Expmap(v)) {}
+
+  /// Default destructor
+  virtual ~PinholeBase() = default;
 
   /// @}
   /// @name Testable
diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h
index 57f95b0ea5..6ea81030a4 100644
--- a/gtsam/inference/Factor.h
+++ b/gtsam/inference/Factor.h
@@ -102,47 +102,52 @@ typedef FastSet<FactorIndex> FactorIndexSet;
     /// @}
 
   public:
-    /// @name Standard Interface
-    /// @{
+   /// Default destructor
+   // public since it is required for boost serialization and static methods.
+   // virtual since it is public.
+   // http://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#Rc-dtor-virtual
+   virtual ~Factor() = default;
 
-    /// First key
-    Key front() const { return keys_.front(); }
+   /// @name Standard Interface
+   /// @{
 
-    /// Last key
-    Key back() const { return keys_.back(); }
+   /// First key
+   Key front() const { return keys_.front(); }
 
-    /// find
-    const_iterator find(Key key) const { return std::find(begin(), end(), key); }
+   /// Last key
+   Key back() const { return keys_.back(); }
 
-    /// Access the factor's involved variable keys
-    const KeyVector& keys() const { return keys_; }
+   /// find
+   const_iterator find(Key key) const { return std::find(begin(), end(), key); }
 
-    /** Iterator at beginning of involved variable keys */
-    const_iterator begin() const { return keys_.begin(); }
+   /// Access the factor's involved variable keys
+   const KeyVector& keys() const { return keys_; }
 
-    /** Iterator at end of involved variable keys */
-    const_iterator end() const { return keys_.end(); }
+   /** Iterator at beginning of involved variable keys */
+   const_iterator begin() const { return keys_.begin(); }
+
+   /** Iterator at end of involved variable keys */
+   const_iterator end() const { return keys_.end(); }
 
-    /**
+   /**
     * @return the number of variables involved in this factor
     */
-    size_t size() const { return keys_.size(); }
-
-    /// @}
+   size_t size() const { return keys_.size(); }
 
+   /// @}
 
-    /// @name Testable
-    /// @{
+   /// @name Testable
+   /// @{
 
-    /// print
-    virtual void print(
-        const std::string& s = "Factor",
-        const KeyFormatter& formatter = DefaultKeyFormatter) const;
+   /// print
+   virtual void print(
+       const std::string& s = "Factor",
+       const KeyFormatter& formatter = DefaultKeyFormatter) const;
 
-    /// print only keys
-    virtual void printKeys(
-        const std::string& s = "Factor",
-        const KeyFormatter& formatter = DefaultKeyFormatter) const;
+   /// print only keys
+   virtual void printKeys(
+       const std::string& s = "Factor",
+       const KeyFormatter& formatter = DefaultKeyFormatter) const;
 
   protected:
     /// check equality
diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index 90b9d7ef23..a9ca7f84d3 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -148,6 +148,10 @@ class FactorGraph {
   /// @}
 
  public:
+  /// Default destructor
+  // Public and virtual so boost serialization can call it.
+  virtual ~FactorGraph() = default;
+
   /// @name Adding Single Factors
   /// @{
 

From cba8f626422b46336bfa9436cf3821dd313e265e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 May 2021 17:01:26 -0400
Subject: [PATCH 2/2] fix unused warning

---
 gtsam/geometry/tests/testRot3.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index 889f685807..34f90c8cc5 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -825,7 +825,7 @@ TEST(Rot3, RQ_derivative) {
     const auto R = Rot3::RzRyRx(xyz).matrix();
     const auto num = numericalDerivative11(RQ_proxy, R);
     Matrix39 calc;
-    RQ(R, calc).second;
+    RQ(R, calc);
 
     const auto err = vec_err.second;
     CHECK(assert_equal(num, calc, err));