From ab73e03ad4c2b70d3477d25c4fe01cba04bc1bf2 Mon Sep 17 00:00:00 2001 From: David Wisth Date: Wed, 8 Dec 2021 18:17:35 +0000 Subject: [PATCH 1/2] add override keyword to functions --- gtsam_unstable/slam/PoseToPointFactor.h | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h index d691b76438..be73b93124 100644 --- a/gtsam_unstable/slam/PoseToPointFactor.h +++ b/gtsam_unstable/slam/PoseToPointFactor.h @@ -45,8 +45,9 @@ class PoseToPointFactor : public NoiseModelFactor2 { /** implement functions needed for Testable */ /** print */ - virtual void print(const std::string& s, const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const { + virtual void print( + const std::string& s, + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { std::cout << s << "PoseToPointFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ")\n" << " measured: " << measured_.transpose() << std::endl; @@ -55,7 +56,7 @@ class PoseToPointFactor : public NoiseModelFactor2 { /** equals */ virtual bool equals(const NonlinearFactor& expected, - double tol = 1e-9) const { + double tol = 1e-9) const override { const This* e = dynamic_cast(&expected); return e != nullptr && Base::equals(*e, tol) && traits::Equals(this->measured_, e->measured_, tol); @@ -70,9 +71,10 @@ class PoseToPointFactor : public NoiseModelFactor2 { * * Note: measured_ and the error are in local coordiantes. */ - Vector evaluateError(const POSE& w_T_b, const POINT& w_P, - boost::optional H1 = boost::none, - boost::optional H2 = boost::none) const { + Vector evaluateError( + const POSE& w_T_b, const POINT& w_P, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const override { return w_T_b.transformTo(w_P, H1, H2) - measured_; } From 45d5328457c4c304388928a00d9b45ca563cf4a0 Mon Sep 17 00:00:00 2001 From: David Wisth Date: Wed, 8 Dec 2021 21:12:46 +0000 Subject: [PATCH 2/2] remove "virtual" keyword for functions with "override" --- gtsam_unstable/slam/PoseToPointFactor.h | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h index be73b93124..cab48e5069 100644 --- a/gtsam_unstable/slam/PoseToPointFactor.h +++ b/gtsam_unstable/slam/PoseToPointFactor.h @@ -45,9 +45,8 @@ class PoseToPointFactor : public NoiseModelFactor2 { /** implement functions needed for Testable */ /** print */ - virtual void print( - const std::string& s, - const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { + void print(const std::string& s, const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const override { std::cout << s << "PoseToPointFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ")\n" << " measured: " << measured_.transpose() << std::endl; @@ -55,8 +54,8 @@ class PoseToPointFactor : public NoiseModelFactor2 { } /** equals */ - virtual bool equals(const NonlinearFactor& expected, - double tol = 1e-9) const override { + bool equals(const NonlinearFactor& expected, + double tol = 1e-9) const override { const This* e = dynamic_cast(&expected); return e != nullptr && Base::equals(*e, tol) && traits::Equals(this->measured_, e->measured_, tol);