From 06eb801526c67c97465e4bb5d0ce468645ffac0f Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 10 Nov 2014 16:43:49 +0100
Subject: [PATCH] Added virtual destructor: for some reason if I remove virtual
 methods the  unit tests fail...

---
 gtsam.h                          | 8 +++++++-
 gtsam/geometry/EssentialMatrix.h | 2 ++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/gtsam.h b/gtsam.h
index b5f121ce1..c42dadec2 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1682,7 +1682,6 @@ class Values {
       gtsam::Cal3DS2}>
   void insert(size_t j, const T& value);
   void insert(const gtsam::Values& values);
-  void update(size_t j, const gtsam::Value& val);
   void update(const gtsam::Values& values);
   void erase(size_t j);
   void swap(gtsam::Values& values);
@@ -1698,6 +1697,13 @@ class Values {
 
   // enabling serialization functionality
   void serialize() const;
+
+  // New in 4.0, we have to specialize every insert/update to generate wrappers
+  // Instead of the old:
+  // void insert(size_t j, const gtsam::Value& value);
+  // void update(size_t j, const gtsam::Value& val);
+  void insert(size_t j, const gtsam::Pose2& t);
+  void update(size_t j, const gtsam::Pose2& t);
 };
 
 // Actually a FastList<Key>
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index e23b22093..8763504c0 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -58,6 +58,8 @@ public:
     return EssentialMatrix(Rot3::Random(rng), Unit3::Random(rng));
   }
 
+  virtual ~EssentialMatrix() {}
+
   /// @}
 
   /// @name Testable