Merge pull request #1003 from borglab/fix/change-local-plane-factor-t…

…o-shared-noise-model
borglab · Jan 3, 2022 · a119eb8 · a119eb8
2 parents 6bfad39 + 2151fd3
commit a119eb8
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/gtsam_unstable/slam/LocalOrientedPlane3Factor.h b/gtsam_unstable/slam/LocalOrientedPlane3Factor.h
@@ -43,7 +43,7 @@ class GTSAM_UNSTABLE_EXPORT LocalOrientedPlane3Factor
   /// Constructor
   LocalOrientedPlane3Factor() {}
 
-  virtual ~LocalOrientedPlane3Factor() {}
+  ~LocalOrientedPlane3Factor() override {}
 
   /** Constructor with measured plane (a,b,c,d) coefficients
    * @param z measured plane (a,b,c,d) coefficients as 4D vector
@@ -56,12 +56,12 @@ class GTSAM_UNSTABLE_EXPORT LocalOrientedPlane3Factor
    * Note: The anchorPoseKey can simply be chosen as the first pose a plane
    * is observed.  
    */
-  LocalOrientedPlane3Factor(const Vector4& z, const SharedGaussian& noiseModel,
+  LocalOrientedPlane3Factor(const Vector4& z, const SharedNoiseModel& noiseModel,
                             Key poseKey, Key anchorPoseKey, Key landmarkKey)
       : Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {}
 
   LocalOrientedPlane3Factor(const OrientedPlane3& z,
-                            const SharedGaussian& noiseModel,
+                            const SharedNoiseModel& noiseModel,
                             Key poseKey, Key anchorPoseKey, Key landmarkKey)
     : Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {}