diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 92ae0f6fc..5cad3b6e7 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -59,17 +59,12 @@ public:
   /// @name Advanced Constructors
   /// @{
 
-  explicit PinholeBaseK(const Vector &v) :
-  PinholeBase(v) {
-  }
+  explicit PinholeBaseK(const Vector& v) : PinholeBase(v) {}
 
   /// @}
   /// @name Standard Interface
   /// @{
 
-  virtual ~PinholeBaseK() override {
-  }
-
   /// return calibration
   virtual const CALIBRATION& calibration() const = 0;
 
diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h
index 3441861e2..c5133c6b2 100644
--- a/gtsam/linear/GaussianFactor.h
+++ b/gtsam/linear/GaussianFactor.h
@@ -42,6 +42,9 @@ namespace gtsam {
     typedef std::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
     typedef Factor Base; ///< Our base class
 
+    /// @name Standard Constructors
+    /// @{
+
     /** Default constructor creates empty factor */
     GaussianFactor() {}
 
@@ -50,19 +53,22 @@ namespace gtsam {
     template<typename CONTAINER>
     GaussianFactor(const CONTAINER& keys) : Base(keys) {}
 
-    /** Destructor */
-    virtual ~GaussianFactor() override {}
+    /// @}
+    /// @name Testable
+    /// @{
 
-    // Implementing Testable interface
-
-    /// print
+    /// print with optional string
     void print(
         const std::string& s = "",
         const KeyFormatter& formatter = DefaultKeyFormatter) const override = 0;
 
-    /** Equals for testable */
+    /// assert equality up to a tolerance
     virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const = 0;
 
+    /// @}
+    /// @name Standard Interface
+    /// @{
+
     /**
      * In Gaussian factors, the error function returns either the negative log-likelihood, e.g.,
      *   0.5*(A*x-b)'*D*(A*x-b) 
@@ -144,6 +150,10 @@ namespace gtsam {
     virtual void updateHessian(const KeyVector& keys,
                            SymmetricBlockMatrix* info) const = 0;
 
+    /// @}
+    /// @name Operator interface
+    /// @{
+
     /// y += alpha * A'*A*x
     virtual void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const = 0;
 
@@ -156,12 +166,18 @@ namespace gtsam {
     /// Gradient wrt a key at any values
     virtual Vector gradient(Key key, const VectorValues& x) const = 0;
 
+    /// @}
+    /// @name Advanced Interface
+    /// @{
+
     // Determine position of a given key
     template <typename CONTAINER>
     static DenseIndex Slot(const CONTAINER& keys, Key key) {
       return std::find(keys.begin(), keys.end(), key) - keys.begin();
     }
 
+    /// @}
+    
   private:
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
@@ -171,7 +187,6 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     }
 #endif
-
   }; // GaussianFactor
 
 /// traits
diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h
index 96122eb6b..6a7848f51 100644
--- a/gtsam/linear/GaussianFactorGraph.h
+++ b/gtsam/linear/GaussianFactorGraph.h
@@ -107,9 +107,6 @@ namespace gtsam {
     template<class DERIVEDFACTOR>
     GaussianFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
-    /** Virtual destructor */
-    virtual ~GaussianFactorGraph() override {}
-
     /// @}
     /// @name Testable
     /// @{
diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index c2e246add..57c4a00eb 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -105,9 +105,6 @@ public:
   /// @name Standard Interface
   /// @{
 
-  /** Destructor */
-  virtual ~NonlinearFactor() override {}
-
   /**
    * In nonlinear factors, the error function returns the negative log-likelihood
    * as a non-linear function of the values in a \class Values object.
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h
index d4d3ea488..bf56d835f 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@@ -78,9 +78,6 @@ namespace gtsam {
     template<class DERIVEDFACTOR>
     NonlinearFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
-    /// Destructor
-    virtual ~NonlinearFactorGraph() override {}
-
     /// @}
     /// @name Testable
     /// @{
diff --git a/gtsam/symbolic/SymbolicFactor.h b/gtsam/symbolic/SymbolicFactor.h
index b4b9b6dab..190609ecb 100644
--- a/gtsam/symbolic/SymbolicFactor.h
+++ b/gtsam/symbolic/SymbolicFactor.h
@@ -79,8 +79,6 @@ namespace gtsam {
     /** Create symbolic version of any factor */
     explicit SymbolicFactor(const Factor& factor) : Base(factor.keys()) {}
 
-    virtual ~SymbolicFactor() override {}
-
     /// Copy this object as its actual derived type.
     SymbolicFactor::shared_ptr clone() const { return std::make_shared<This>(*this); }