return before using statement

examples/LocalizationExample.cpp

@@ -71,6 +71,7 @@ class UnaryFactor: public NoiseModelFactorN<Pose2> {
   double mx_, my_;
 
  public:
+
   // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Pose2>::evaluateError;
 

gtsam/navigation/AttitudeFactor.h

@@ -158,6 +158,7 @@ class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactorN<Pose3>,
   typedef NoiseModelFactorN<Pose3> Base;
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/navigation/BarometricFactor.h

@@ -38,6 +38,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
     double nT_;  ///< Height Measurement based on a standard atmosphere
 
    public:
+
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
 

gtsam/navigation/CombinedImuFactor.h

@@ -268,6 +268,7 @@ private:
   PreintegratedCombinedMeasurements _PIM_;
 
 public:
+
   // Provide access to Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/navigation/ConstantVelocityFactor.h

@@ -31,6 +31,7 @@ class ConstantVelocityFactor : public NoiseModelFactorN<NavState, NavState> {
 
    public:
     using Base = NoiseModelFactor2<NavState, NavState>;
+
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
 

gtsam/navigation/GPSFactor.h

@@ -122,6 +122,7 @@ private:
   Point3 nT_; ///< Position measurement in cartesian coordinates
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/navigation/ImuFactor.h

@@ -179,6 +179,7 @@ private:
   PreintegratedImuMeasurements _PIM_;
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/navigation/MagFactor.h

@@ -37,6 +37,7 @@ class MagFactor: public NoiseModelFactorN<Rot2> {
   const Point3 bias_; ///< bias
 
 public:
+
   // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Rot2>::evaluateError;
 
@@ -95,6 +96,7 @@ class MagFactor1: public NoiseModelFactorN<Rot3> {
   const Point3 bias_; ///< bias
 
 public:
+
   // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Rot3>::evaluateError;
 
@@ -134,6 +136,7 @@ class MagFactor2: public NoiseModelFactorN<Point3, Point3> {
   const Rot3 bRn_; ///< The assumed known rotation from nav to body
 
 public:
+
   // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor2<Point3, Point3>::evaluateError;
 
@@ -177,6 +180,7 @@ class MagFactor3: public NoiseModelFactorN<double, Unit3, Point3> {
   const Rot3 bRn_; ///< The assumed known rotation from nav to body
 
 public:
+
   // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor3<double, Unit3, Point3>::evaluateError;
 

gtsam/navigation/MagPoseFactor.h

@@ -49,6 +49,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
   GTSAM_CONCEPT_POSE_TYPE(POSE)
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/nonlinear/ExpressionFactor.h

@@ -55,6 +55,7 @@ protected:
 
 
  public:
+
   // Provide access to the Matrix& version of unwhitenedError:
   using NoiseModelFactor::unwhitenedError;
   typedef boost::shared_ptr<ExpressionFactor<T> > shared_ptr;

gtsam/nonlinear/FunctorizedFactor.h

@@ -65,6 +65,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
   std::function<R(T, OptionalMatrixType)> func_;  ///< functor instance
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -168,6 +169,7 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
   FunctionType func_;  ///< functor instance
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/nonlinear/NonlinearEquality.h

@@ -46,6 +46,7 @@ class NonlinearEquality: public NoiseModelFactorN<VALUE> {
 
 public:
   typedef VALUE T;
+
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor1<VALUE>::evaluateError;
 
@@ -307,6 +308,7 @@ class NonlinearEquality2 : public NoiseModelFactorN<T, T> {
 
  public:
   typedef boost::shared_ptr<NonlinearEquality2<T>> shared_ptr;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/nonlinear/PriorFactor.h

@@ -31,6 +31,7 @@ namespace gtsam {
 
   public:
     typedef VALUE T;
+
     // Provide access to the Matrix& version of evaluateError:
     using NoiseModelFactor1<VALUE>::evaluateError;
 

gtsam/sfm/ShonanFactor.h

@@ -42,6 +42,7 @@ class GTSAM_EXPORT ShonanFactor : public NoiseModelFactorN<SOn, SOn> {
   using Rot = typename std::conditional<d == 2, Rot2, Rot3>::type;
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<SOn, SOn>::evaluateError;
 

gtsam/sfm/TranslationFactor.h

@@ -45,6 +45,7 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
   Point3 measured_w_aZb_;
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Point3, Point3>::evaluateError;
 

gtsam/slam/BetweenFactor.h

@@ -55,6 +55,7 @@ namespace gtsam {
     VALUE measured_; /** The measurement */
 
   public:
+
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
 

gtsam/slam/EssentialMatrixConstraint.h

@@ -37,6 +37,7 @@ private:
   EssentialMatrix measuredE_; /** The measurement is an essential matrix */
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/slam/EssentialMatrixFactor.h

@@ -118,6 +118,7 @@ class EssentialMatrixFactor2
   typedef EssentialMatrixFactor2 This;
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -240,6 +241,7 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
   Rot3 cRb_;  ///< Rotation from body to camera frame
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -343,6 +345,7 @@ class EssentialMatrixFactor4
   typedef Eigen::Matrix<double, 2, DimK> JacobianCalibration;
 
  public:
+
    // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/slam/FrobeniusFactor.h

@@ -114,6 +114,7 @@ class FrobeniusBetweenFactor : public NoiseModelFactorN<Rot, Rot> {
   enum { Dim = Rot::VectorN2::RowsAtCompileTime };
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Rot, Rot>::evaluateError;
 

gtsam/slam/OrientedPlane3Factor.h

@@ -21,6 +21,7 @@ class GTSAM_EXPORT OrientedPlane3Factor: public NoiseModelFactorN<Pose3, Oriente
   typedef NoiseModelFactorN<Pose3, OrientedPlane3> Base;
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Pose3, OrientedPlane3>::evaluateError;
 

gtsam/slam/RotateFactor.h

@@ -74,6 +74,7 @@ class RotateDirectionsFactor: public NoiseModelFactorN<Rot3> {
   typedef RotateDirectionsFactor This;
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/dynamics/IMUFactor.h

@@ -32,6 +32,7 @@ protected:
   double dt_; /// time between measurements
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/dynamics/Pendulum.h

@@ -191,6 +191,7 @@ protected:
   double alpha_; //! in [0,1], define the mid-point between [q_k,q_{k+1}] for approximation. The sympletic rule above can be obtained as a special case when alpha = 0.
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/dynamics/SimpleHelicopter.h

@@ -29,6 +29,7 @@ class Reconstruction : public NoiseModelFactorN<Pose3, Pose3, Vector6>  {
   double h_;  // time step
   typedef NoiseModelFactorN<Pose3, Pose3, Vector6> Base;
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -91,6 +92,7 @@ class DiscreteEulerPoincareHelicopter : public NoiseModelFactorN<Vector6, Vector
   typedef NoiseModelFactorN<Vector6, Vector6, Pose3> Base;
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/dynamics/VelocityConstraint.h

@@ -35,6 +35,7 @@ typedef enum {
 class VelocityConstraint : public gtsam::NoiseModelFactorN<PoseRTV,PoseRTV> {
 public:
   typedef gtsam::NoiseModelFactor2<PoseRTV,PoseRTV> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/BiasedGPSFactor.h

@@ -37,6 +37,7 @@ namespace gtsam {
     Point3 measured_; /** The measurement */
 
   public:
+
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
 

gtsam_unstable/slam/GaussMarkov1stOrderFactor.h

@@ -53,6 +53,7 @@ private:
   Vector tau_;
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h

@@ -95,6 +95,7 @@ private:
   boost::optional<POSE> body_P_sensor_; // The pose of the sensor in the body frame
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/InvDepthFactor3.h

@@ -35,6 +35,7 @@ public:
 
   /// shorthand for base class type
   typedef NoiseModelFactor3<POSE, LANDMARK, INVDEPTH> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/InvDepthFactorVariant1.h

@@ -35,6 +35,7 @@ public:
 
   /// shorthand for base class type
   typedef NoiseModelFactor2<Pose3, Vector6> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/InvDepthFactorVariant2.h

@@ -37,6 +37,7 @@ public:
 
   /// shorthand for base class type
   typedef NoiseModelFactor2<Pose3, Vector3> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/InvDepthFactorVariant3.h

@@ -35,6 +35,7 @@ public:
 
   /// shorthand for base class type
   typedef NoiseModelFactor2<Pose3, Vector3> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/LocalOrientedPlane3Factor.h

@@ -40,6 +40,7 @@ class GTSAM_UNSTABLE_EXPORT LocalOrientedPlane3Factor
   OrientedPlane3 measured_p_;
   typedef NoiseModelFactorN<Pose3, Pose3, OrientedPlane3> Base;
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/PartialPriorFactor.h

@@ -61,6 +61,7 @@ namespace gtsam {
       : Base(model, key) {}
 
   public:
+
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
 

gtsam_unstable/slam/PoseBetweenFactor.h

@@ -43,6 +43,7 @@ namespace gtsam {
     GTSAM_CONCEPT_TESTABLE_TYPE(POSE)
     GTSAM_CONCEPT_POSE_TYPE(POSE)
   public:
+
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
 

gtsam_unstable/slam/PosePriorFactor.h

@@ -40,6 +40,7 @@ namespace gtsam {
     GTSAM_CONCEPT_TESTABLE_TYPE(POSE)
     GTSAM_CONCEPT_POSE_TYPE(POSE)
   public:
+
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
 

gtsam_unstable/slam/PoseToPointFactor.h

@@ -29,6 +29,7 @@ class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
   POINT measured_; /** the point measurement in local coordinates */
 
  public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/ProjectionFactorPPP.h

@@ -46,6 +46,7 @@ namespace gtsam {
 
     /// shorthand for base class type
     typedef NoiseModelFactor3<POSE, POSE, LANDMARK> Base;
+
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
 

gtsam_unstable/slam/ProjectionFactorPPPC.h

@@ -45,6 +45,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
  public:
   /// shorthand for base class type
   typedef NoiseModelFactor4<POSE, POSE, LANDMARK, CALIBRATION> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/ProjectionFactorRollingShutter.h

@@ -61,6 +61,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
  public:
   /// shorthand for base class type
   typedef NoiseModelFactor3<Pose3, Pose3, Point3> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/RelativeElevationFactor.h

@@ -34,6 +34,7 @@ private:
   typedef NoiseModelFactorN<Pose3, Point3> Base;
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/slam/SmartRangeFactor.h

@@ -42,6 +42,7 @@ class SmartRangeFactor: public NoiseModelFactor {
   double variance_;  ///< variance on noise
 
  public:
+
   // Provide access to the Matrix& version of unwhitenedError
   using NoiseModelFactor::unwhitenedError;
 

gtsam_unstable/slam/TSAMFactors.h

@@ -37,6 +37,7 @@ private:
   Point2 measured_; ///< the measurement
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -67,6 +68,7 @@ private:
   Point2 measured_; ///< the measurement
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -122,6 +124,7 @@ private:
   Pose2 measured_; ///< the measurement
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

tests/simulated2DOriented.h

@@ -108,7 +108,7 @@ namespace simulated2DOriented {
     typedef GenericOdometry<VALUE> This;
 
     // Provide access to the Matrix& version of evaluateError:
-	  using NoiseModelFactor2<VALUE, VALUE>::evaluateError;
+    using NoiseModelFactor2<VALUE, VALUE>::evaluateError;
 
     /**
      * Creates an odometry factor between two poses

tests/testExtendedKalmanFilter.cpp

@@ -101,6 +101,7 @@ protected:
   Matrix Q_invsqrt_;
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -247,6 +248,7 @@ protected:
   Matrix R_invsqrt_; /** The inv sqrt of the measurement error covariance */
 
 public:
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

tests/testNonlinearFactor.cpp

@@ -337,10 +337,12 @@ class TestFactor1 : public NoiseModelFactor1<double> {
 
  public:
   typedef NoiseModelFactor1<double> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
   TestFactor1() : Base(noiseModel::Diagonal::Sigmas(Vector1(2.0)), L(1)) {}
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::NoiseModelFactor1;  // inherit constructors
 
@@ -392,10 +394,12 @@ class TestFactor4 : public NoiseModelFactor4<double, double, double, double> {
 
  public:
   typedef NoiseModelFactor4<double, double, double, double> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
   TestFactor4() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4)) {}
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::NoiseModelFactor4;  // inherit constructors
 
@@ -485,6 +489,7 @@ TEST(NonlinearFactor, NoiseModelFactor4) {
 class TestFactor5 : public NoiseModelFactor5<double, double, double, double, double> {
 public:
   typedef NoiseModelFactor5<double, double, double, double, double> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -535,6 +540,7 @@ TEST(NonlinearFactor, NoiseModelFactor5) {
 class TestFactor6 : public NoiseModelFactor6<double, double, double, double, double, double> {
 public:
   typedef NoiseModelFactor6<double, double, double, double, double, double> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
@@ -592,6 +598,7 @@ TEST(NonlinearFactor, NoiseModelFactor6) {
 class TestFactorN : public NoiseModelFactorN<double, double, double, double> {
 public:
   typedef NoiseModelFactorN<double, double, double, double> Base;
+
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;