remove virtual from overridden methods, add virtual destructors to appease compiler

gtsam/discrete/DiscreteBayesNet.h

@@ -55,6 +55,9 @@ namespace gtsam {
     template<class DERIVEDCONDITIONAL>
     DiscreteBayesNet(const FactorGraph<DERIVEDCONDITIONAL>& graph) : Base(graph) {}
 
+    /// Destructor
+    virtual ~DiscreteBayesNet() {}
+
     /// @}
 
     /// @name Testable

gtsam/discrete/DiscreteFactor.h

@@ -78,7 +78,7 @@ public:
   virtual bool equals(const DiscreteFactor& lf, double tol = 1e-9) const = 0;
 
   /// print
-  virtual void print(
+  void print(
       const std::string& s = "DiscreteFactor\n",
       const KeyFormatter& formatter = DefaultKeyFormatter) const override {
     Base::print(s, formatter);

gtsam/discrete/DiscreteFactorGraph.h

@@ -91,6 +91,9 @@ public:
   template<class DERIVEDFACTOR>
   DiscreteFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
+  /// Destructor
+  virtual ~DiscreteFactorGraph() {}
+
   /// @name Testable
   /// @{
 

gtsam/linear/GaussianBayesNet.h

@@ -55,6 +55,9 @@ namespace gtsam {
     template<class DERIVEDCONDITIONAL>
     GaussianBayesNet(const FactorGraph<DERIVEDCONDITIONAL>& graph) : Base(graph) {}
 
+    /// Destructor
+    virtual ~GaussianBayesNet() {}
+
     /// @}
 
     /// @name Testable
@@ -178,7 +181,7 @@ namespace gtsam {
     VectorValues backSubstituteTranspose(const VectorValues& gx) const;
 
     /// print graph
-    virtual void print(
+    void print(
         const std::string& s = "",
         const KeyFormatter& formatter = DefaultKeyFormatter) const override {
       Base::print(s, formatter);

gtsam/linear/GaussianFactor.h

@@ -56,7 +56,7 @@ namespace gtsam {
     // Implementing Testable interface
 
     /// print
-    virtual void print(
+    void print(
         const std::string& s = "",
         const KeyFormatter& formatter = DefaultKeyFormatter) const override = 0;
 

gtsam/linear/Preconditioner.h

@@ -44,9 +44,9 @@ struct GTSAM_EXPORT PreconditionerParameters {
    inline Kernel kernel() const { return kernel_; }
    inline Verbosity verbosity() const { return verbosity_; }
 
-   void print() const ;
+   void print() const;
 
-   virtual void print(std::ostream &os) const ;
+   virtual void print(std::ostream &os) const;
 
    static Kernel kernelTranslator(const std::string &s);
    static Verbosity verbosityTranslator(const std::string &s);

gtsam/nonlinear/NonlinearFactor.h

@@ -70,9 +70,8 @@ public:
   /// @{
 
   /** print */
-  virtual void print(
+  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
-      const std::string& s = "",
+                                            DefaultKeyFormatter) const override;
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
 
   /** Check if two factors are equal */
   virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const;

gtsam/nonlinear/NonlinearFactorGraph.h

@@ -98,6 +98,9 @@ namespace gtsam {
     template<class DERIVEDFACTOR>
     NonlinearFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
+    /// Destructor
+    virtual ~NonlinearFactorGraph() {}
+
     /** print */
     void print(
         const std::string& str = "NonlinearFactorGraph: ",

gtsam/sfm/BinaryMeasurement.h

@@ -52,6 +52,9 @@ private:
         measured_(measured),
         noiseModel_(model) {}
 
+  /// Destructor
+  virtual ~BinaryMeasurement() {}
+
   /// @name Standard Interface
   /// @{
 

gtsam/symbolic/SymbolicBayesNet.h

@@ -55,6 +55,9 @@ namespace gtsam {
     template<class DERIVEDCONDITIONAL>
     SymbolicBayesNet(const FactorGraph<DERIVEDCONDITIONAL>& graph) : Base(graph) {}
 
+    /// Destructor
+    virtual ~SymbolicBayesNet() {}
+
     /// @}
 
     /// @name Testable

gtsam/symbolic/SymbolicConditional.h

@@ -105,7 +105,7 @@ namespace gtsam {
     /// @name Testable
 
     /** Print with optional formatter */
-    virtual void print(
+    void print(
         const std::string& str = "",
         const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
 

gtsam/symbolic/SymbolicFactorGraph.h

@@ -81,6 +81,9 @@ namespace gtsam {
     template<class DERIVEDFACTOR>
     SymbolicFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
+    /// Destructor
+    virtual ~SymbolicFactorGraph() {}
+
     /// @}
 
     /// @name Testable

gtsam_unstable/discrete/Scheduler.cpp

@@ -178,8 +178,7 @@ namespace gtsam {
   } // buildGraph
 
   /** print */
-  void Scheduler::print(const string& s) const {
+  void Scheduler::print(const string& s, const KeyFormatter& formatter) const {
-
     cout << s << " Faculty:" << endl;
     for(const string& name: facultyName_)
             cout << name << '\n';
@@ -210,7 +209,7 @@ namespace gtsam {
 
     CSP::print(s + " Factor graph");
     cout << endl;
-  } // print
+  }  // print
 
   /** Print readable form of assignment */
   void Scheduler::printAssignment(sharedValues assignment) const {

gtsam_unstable/discrete/Scheduler.h

@@ -66,15 +66,17 @@ namespace gtsam {
 
     /**
      * Constructor
-     * WE need to know the number of students in advance for ordering keys.
+     * We need to know the number of students in advance for ordering keys.
      * then add faculty, slots, areas, availability, students, in that order
      */
-    Scheduler(size_t maxNrStudents):maxNrStudents_(maxNrStudents) {
+   Scheduler(size_t maxNrStudents) : maxNrStudents_(maxNrStudents) {}
-    }
 
-    void addFaculty(const std::string& facultyName) {
+   /// Destructor
-      facultyIndex_[facultyName] = nrFaculty();
+   virtual ~Scheduler() {}
-      facultyName_.push_back(facultyName);
+
+   void addFaculty(const std::string& facultyName) {
+     facultyIndex_[facultyName] = nrFaculty();
+     facultyName_.push_back(facultyName);
     }
 
     size_t nrFaculty() const {
@@ -140,7 +142,9 @@ namespace gtsam {
     void buildGraph(size_t mutexBound = 7);
 
     /** print */
-    void print(const std::string& s = "Scheduler") const;
+    void print(
+        const std::string& s = "Scheduler",
+        const KeyFormatter& formatter = DefaultKeyFormatter) const override;
 
     /** Print readable form of assignment */
     void printAssignment(sharedValues assignment) const;

gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h

@@ -47,7 +47,9 @@ public:
   virtual ~ConcurrentFilter() {};
 
   /** Implement a standard 'print' function */
-  virtual void print(const std::string& s = "Concurrent Filter:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;
+  virtual void print(
+      const std::string& s = "Concurrent Filter:\n",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;
 
   /** Check if two Concurrent Smoothers are equal */
   virtual bool equals(const ConcurrentFilter& rhs, double tol = 1e-9) const = 0;
@@ -107,7 +109,9 @@ public:
   virtual ~ConcurrentSmoother() {};
 
   /** Implement a standard 'print' function */
-  virtual void print(const std::string& s = "Concurrent Smoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;
+  virtual void print(
+      const std::string& s = "Concurrent Smoother:\n",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;
 
   /** Check if two Concurrent Smoothers are equal */
   virtual bool equals(const ConcurrentSmoother& rhs, double tol = 1e-9) const = 0;

gtsam_unstable/nonlinear/FixedLagSmoother.h

@@ -69,7 +69,9 @@ public:
   virtual ~FixedLagSmoother() { }
 
   /** Print the factor for debugging and testing (implementing Testable) */
-  virtual void print(const std::string& s = "FixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+  virtual void print(
+      const std::string& s = "FixedLagSmoother:\n",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
 
   /** Check if two IncrementalFixedLagSmoother Objects are equal */
   virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const;

gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h

@@ -132,7 +132,9 @@ public:
   /** implement functions needed for Testable */
 
   /** print */
-  virtual void print(const std::string& s = "EquivInertialNavFactor_GlobalVel_NoBias", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
+  virtual void print(
+      const std::string& s = "EquivInertialNavFactor_GlobalVel_NoBias",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     std::cout << s << "("
         << keyFormatter(this->key1()) << ","
         << keyFormatter(this->key2()) << ","