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Add override keyword to functions in PoseToPointFactor #956

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merged 2 commits into from
Dec 9, 2021
Merged

Add override keyword to functions in PoseToPointFactor #956

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ab73e03
add override keyword to functions
dwisth Dec 8, 2021
45d5328
remove "virtual" keyword for functions with "override"
dwisth Dec 8, 2021
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14 changes: 8 additions & 6 deletions gtsam_unstable/slam/PoseToPointFactor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,9 @@ class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
/** implement functions needed for Testable */

/** print */
virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const {
virtual void print(
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I think we should not have virtual and override. One or the other. Surprised that does not trigger a warning (check clang)

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good catch, my mistake! I just fixed it

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;
Expand All @@ -55,7 +56,7 @@ class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {

/** equals */
virtual bool equals(const NonlinearFactor& expected,
double tol = 1e-9) const {
double tol = 1e-9) const override {
const This* e = dynamic_cast<const This*>(&expected);
return e != nullptr && Base::equals(*e, tol) &&
traits<POINT>::Equals(this->measured_, e->measured_, tol);
Expand All @@ -70,9 +71,10 @@ class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
*
* Note: measured_ and the error are in local coordiantes.
*/
Vector evaluateError(const POSE& w_T_b, const POINT& w_P,
boost::optional<Matrix&> H1 = boost::none,
boost::optional<Matrix&> H2 = boost::none) const {
Vector evaluateError(
const POSE& w_T_b, const POINT& w_P,
boost::optional<Matrix&> H1 = boost::none,
boost::optional<Matrix&> H2 = boost::none) const override {
return w_T_b.transformTo(w_P, H1, H2) - measured_;
}

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