Prefer C++11 nullptr

examples/SFMExample_SmartFactor.cpp

@@ -117,7 +117,7 @@ int main(int argc, char* argv[]) {
       // The output of point() is in boost::optional<Point3>, as sometimes
       // the triangulation operation inside smart factor will encounter degeneracy.
       boost::optional<Point3> point = smart->point(result);
-      if (point) // ignore if boost::optional return NULL
+      if (point) // ignore if boost::optional return nullptr
         landmark_result.insert(j, *point);
     }
   }

examples/SFMExample_SmartFactorPCG.cpp

@@ -114,7 +114,7 @@ int main(int argc, char* argv[]) {
         boost::dynamic_pointer_cast<SmartFactor>(graph[j]);
     if (smart) {
       boost::optional<Point3> point = smart->point(result);
-      if (point) // ignore if boost::optional return NULL
+      if (point) // ignore if boost::optional return nullptr
         landmark_result.insert(j, *point);
     }
   }

gtsam/base/OptionalJacobian.h

@@ -55,7 +55,7 @@ private:
   }
 
   // Private and very dangerous constructor straight from memory
-  OptionalJacobian(double* data) : map_(NULL) {
+  OptionalJacobian(double* data) : map_(nullptr) {
     if (data) usurp(data);
   }
 
@@ -66,25 +66,25 @@ public:
 
   /// Default constructor acts like boost::none
   OptionalJacobian() :
-      map_(NULL) {
+      map_(nullptr) {
   }
 
   /// Constructor that will usurp data of a fixed-size matrix
   OptionalJacobian(Jacobian& fixed) :
-      map_(NULL) {
+      map_(nullptr) {
     usurp(fixed.data());
   }
 
   /// Constructor that will usurp data of a fixed-size matrix, pointer version
   OptionalJacobian(Jacobian* fixedPtr) :
-      map_(NULL) {
+      map_(nullptr) {
     if (fixedPtr)
       usurp(fixedPtr->data());
   }
 
   /// Constructor that will resize a dynamic matrix (unless already correct)
   OptionalJacobian(Eigen::MatrixXd& dynamic) :
-      map_(NULL) {
+      map_(nullptr) {
     dynamic.resize(Rows, Cols); // no malloc if correct size
     usurp(dynamic.data());
   }
@@ -93,12 +93,12 @@ public:
 
   /// Constructor with boost::none just makes empty
   OptionalJacobian(boost::none_t /*none*/) :
-      map_(NULL) {
+      map_(nullptr) {
   }
 
   /// Constructor compatible with old-style derivatives
   OptionalJacobian(const boost::optional<Eigen::MatrixXd&> optional) :
-      map_(NULL) {
+      map_(nullptr) {
     if (optional) {
       optional->resize(Rows, Cols);
       usurp(optional->data());
@@ -110,11 +110,11 @@ public:
   /// Constructor that will usurp data of a block expression
   /// TODO(frank): unfortunately using a Map makes usurping non-contiguous memory impossible
   //  template <typename Derived, bool InnerPanel>
-  //  OptionalJacobian(Eigen::Block<Derived,Rows,Cols,InnerPanel> block) : map_(NULL) { ?? }
+  //  OptionalJacobian(Eigen::Block<Derived,Rows,Cols,InnerPanel> block) : map_(nullptr) { ?? }
 
   /// Return true is allocated, false if default constructor was used
   operator bool() const {
-    return map_.data() != NULL;
+    return map_.data() != nullptr;
   }
 
   /// De-reference, like boost optional
@@ -173,7 +173,7 @@ public:
 
   /// Default constructor acts like boost::none
   OptionalJacobian() :
-    pointer_(NULL) {
+    pointer_(nullptr) {
   }
 
   /// Construct from pointer to dynamic matrix
@@ -186,12 +186,12 @@ public:
 
   /// Constructor with boost::none just makes empty
   OptionalJacobian(boost::none_t /*none*/) :
-    pointer_(NULL) {
+    pointer_(nullptr) {
   }
 
   /// Constructor compatible with old-style derivatives
   OptionalJacobian(const boost::optional<Eigen::MatrixXd&> optional) :
-      pointer_(NULL) {
+      pointer_(nullptr) {
     if (optional) pointer_ = &(*optional);
   }
 
@@ -199,7 +199,7 @@ public:
 
   /// Return true is allocated, false if default constructor was used
   operator bool() const {
-    return pointer_!=NULL;
+    return pointer_!=nullptr;
   }
 
   /// De-reference, like boost optional

gtsam/base/treeTraversal/parallelTraversalTasks.h

@@ -53,7 +53,7 @@ namespace gtsam {
           // Run the post-order visitor
           (void) visitorPost(treeNode, *myData);
 
-          return NULL;
+          return nullptr;
         }
       };
 
@@ -88,7 +88,7 @@ namespace gtsam {
           {
             // Run the post-order visitor since this task was recycled to run the post-order visitor
             (void) visitorPost(treeNode, *myData);
-            return NULL;
+            return nullptr;
           }
           else
           {
@@ -129,14 +129,14 @@ namespace gtsam {
               {
                 // Run the post-order visitor in this task if we have no children
                 (void) visitorPost(treeNode, *myData);
-                return NULL;
+                return nullptr;
               }
             }
             else
             {
               // Process this node and its children in this task
               processNodeRecursively(treeNode, *myData);
-              return NULL;
+              return nullptr;
             }
           }
         }
@@ -184,8 +184,8 @@ namespace gtsam {
           set_ref_count(1 + (int) roots.size());
           // Spawn tasks
           spawn_and_wait_for_all(tasks);
-          // Return NULL
-          return NULL;
+          // Return nullptr
+          return nullptr;
         }
       };
 

gtsam/discrete/AlgebraicDecisionTree.h

@@ -101,7 +101,7 @@ namespace gtsam {
     /** Create a new function splitting on a variable */
     template<typename Iterator>
     AlgebraicDecisionTree(Iterator begin, Iterator end, const L& label) :
-        Super(NULL) {
+        Super(nullptr) {
       this->root_ = compose(begin, end, label);
     }
 

gtsam/discrete/DiscreteFactorGraph.cpp

@@ -71,7 +71,7 @@ namespace gtsam {
     for (size_t i = 0; i < factors_.size(); i++) {
       std::stringstream ss;
       ss << "factor " << i << ": ";
-      if (factors_[i] != NULL) factors_[i]->print(ss.str(), formatter);
+      if (factors_[i] != nullptr) factors_[i]->print(ss.str(), formatter);
     }
   }
 

gtsam/geometry/tests/testOrientedPlane3.cpp

@@ -183,7 +183,7 @@ TEST (OrientedPlane3, jacobian_retract) {
 
 /* ************************************************************************* */
 int main() {
-  srand(time(NULL));
+  srand(time(nullptr));
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }

gtsam/geometry/tests/testUnit3.cpp

@@ -495,7 +495,7 @@ TEST(actualH, Serialization) {
 
 /* ************************************************************************* */
 int main() {
-  srand(time(NULL));
+  srand(time(nullptr));
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }

gtsam/inference/BayesTree-inst.h

@@ -125,7 +125,7 @@ namespace gtsam {
   void BayesTree<CLIQUE>::addClique(const sharedClique& clique, const sharedClique& parent_clique) {
     for(Key j: clique->conditional()->frontals())
       nodes_[j] = clique;
-    if (parent_clique != NULL) {
+    if (parent_clique != nullptr) {
       clique->parent_ = parent_clique;
       parent_clique->children.push_back(clique);
     } else {
@@ -430,7 +430,7 @@ namespace gtsam {
   template <class CLIQUE>
   void BayesTree<CLIQUE>::removePath(sharedClique clique, BayesNetType* bn,
                                      Cliques* orphans) {
-    // base case is NULL, if so we do nothing and return empties above
+    // base case is nullptr, if so we do nothing and return empties above
     if (clique) {
       // remove the clique from orphans in case it has been added earlier
       orphans->remove(clique);

gtsam/inference/FactorGraph-inst.h

@@ -55,8 +55,8 @@ bool FactorGraph<FACTOR>::equals(const This& fg, double tol) const {
   // check whether the factors are the same, in same order.
   for (size_t i = 0; i < factors_.size(); i++) {
     sharedFactor f1 = factors_[i], f2 = fg.factors_[i];
-    if (f1 == NULL && f2 == NULL) continue;
-    if (f1 == NULL || f2 == NULL) return false;
+    if (f1 == nullptr && f2 == nullptr) continue;
+    if (f1 == nullptr || f2 == nullptr) return false;
     if (!f1->equals(*f2, tol)) return false;
   }
   return true;

gtsam/inference/FactorGraph.h

@@ -353,7 +353,7 @@ class FactorGraph {
    */
   void resize(size_t size) { factors_.resize(size); }
 
-  /** delete factor without re-arranging indexes by inserting a NULL pointer
+  /** delete factor without re-arranging indexes by inserting a nullptr pointer
    */
   void remove(size_t i) { factors_[i].reset(); }
 

gtsam/inference/Ordering.cpp

@@ -91,7 +91,7 @@ Ordering Ordering::ColamdConstrained(const VariableIndex& variableIndex,
 
   assert((size_t)count == variableIndex.nEntries());
 
-  //double* knobs = NULL; /* colamd arg 6: parameters (uses defaults if NULL) */
+  //double* knobs = nullptr; /* colamd arg 6: parameters (uses defaults if nullptr) */
   double knobs[CCOLAMD_KNOBS];
   ccolamd_set_defaults(knobs);
   knobs[CCOLAMD_DENSE_ROW] = -1;
@@ -235,7 +235,7 @@ Ordering Ordering::Metis(const MetisIndex& met) {
 
   int outputError;
 
-  outputError = METIS_NodeND(&size, &xadj[0], &adj[0], NULL, NULL, &perm[0],
+  outputError = METIS_NodeND(&size, &xadj[0], &adj[0], nullptr, nullptr, &perm[0],
       &iperm[0]);
   Ordering result;
 

gtsam/linear/JacobianFactor.cpp

@@ -840,7 +840,7 @@ GaussianConditional::shared_ptr JacobianFactor::splitConditional(size_t nrFronta
 
   if (!model_) {
     throw std::invalid_argument(
-        "JacobianFactor::splitConditional cannot be  given a NULL noise model");
+        "JacobianFactor::splitConditional cannot be  given a nullptr noise model");
   }
 
   if (nrFrontals > size()) {

gtsam/linear/JacobianFactor.h

@@ -398,7 +398,7 @@ namespace gtsam {
      *  @param keys in some order
      *  @param diemnsions of the variables in same order
      *  @param m output dimension
-     *  @param model noise model (default NULL)
+     *  @param model noise model (default nullptr)
      */
     template<class KEYS, class DIMENSIONS>
     JacobianFactor(const KEYS& keys, const DIMENSIONS& dims, DenseIndex m,

gtsam/linear/LossFunctions.cpp

@@ -153,7 +153,7 @@ void Fair::print(const std::string &s="") const
 
 bool Fair::equals(const Base &expected, double tol) const {
   const Fair* p = dynamic_cast<const Fair*> (&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return std::abs(c_ - p->c_ ) < tol;
 }
 
@@ -190,7 +190,7 @@ void Huber::print(const std::string &s="") const {
 
 bool Huber::equals(const Base &expected, double tol) const {
   const Huber* p = dynamic_cast<const Huber*>(&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return std::abs(k_ - p->k_) < tol;
 }
 
@@ -223,7 +223,7 @@ void Cauchy::print(const std::string &s="") const {
 
 bool Cauchy::equals(const Base &expected, double tol) const {
   const Cauchy* p = dynamic_cast<const Cauchy*>(&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return std::abs(ksquared_ - p->ksquared_) < tol;
 }
 
@@ -266,7 +266,7 @@ void Tukey::print(const std::string &s="") const {
 
 bool Tukey::equals(const Base &expected, double tol) const {
   const Tukey* p = dynamic_cast<const Tukey*>(&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return std::abs(c_ - p->c_) < tol;
 }
 
@@ -296,7 +296,7 @@ void Welsch::print(const std::string &s="") const {
 
 bool Welsch::equals(const Base &expected, double tol) const {
   const Welsch* p = dynamic_cast<const Welsch*>(&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return std::abs(c_ - p->c_) < tol;
 }
 
@@ -330,7 +330,7 @@ void GemanMcClure::print(const std::string &s="") const {
 
 bool GemanMcClure::equals(const Base &expected, double tol) const {
   const GemanMcClure* p = dynamic_cast<const GemanMcClure*>(&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return std::abs(c_ - p->c_) < tol;
 }
 
@@ -372,7 +372,7 @@ void DCS::print(const std::string &s="") const {
 
 bool DCS::equals(const Base &expected, double tol) const {
   const DCS* p = dynamic_cast<const DCS*>(&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return std::abs(c_ - p->c_) < tol;
 }
 
@@ -411,7 +411,7 @@ void L2WithDeadZone::print(const std::string &s="") const {
 
 bool L2WithDeadZone::equals(const Base &expected, double tol) const {
   const L2WithDeadZone* p = dynamic_cast<const L2WithDeadZone*>(&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return std::abs(k_ - p->k_) < tol;
 }
 

gtsam/linear/NoiseModel.cpp

@@ -133,7 +133,7 @@ void Gaussian::print(const string& name) const {
 /* ************************************************************************* */
 bool Gaussian::equals(const Base& expected, double tol) const {
   const Gaussian* p = dynamic_cast<const Gaussian*> (&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   if (typeid(*this) != typeid(*p)) return false;
   //if (!sqrt_information_) return true; // ALEX todo;
   return equal_with_abs_tol(R(), p->R(), sqrt(tol));
@@ -624,7 +624,7 @@ void Robust::print(const std::string& name) const {
 
 bool Robust::equals(const Base& expected, double tol) const {
   const Robust* p = dynamic_cast<const Robust*> (&expected);
-  if (p == NULL) return false;
+  if (p == nullptr) return false;
   return noise_->equals(*p->noise_,tol) && robust_->equals(*p->robust_,tol);
 }
 

gtsam/linear/tests/testJacobianFactor.cpp

@@ -253,7 +253,7 @@ TEST(JacobianFactor, error)
 /* ************************************************************************* */
 TEST(JacobianFactor, matrices_NULL)
 {
-  // Make sure everything works with NULL noise model
+  // Make sure everything works with nullptr noise model
   JacobianFactor factor(simple::terms, simple::b);
 
   Matrix jacobianExpected(3, 9);

gtsam/navigation/AHRSFactor.cpp

@@ -114,7 +114,7 @@ void AHRSFactor::print(const string& s,
 //------------------------------------------------------------------------------
 bool AHRSFactor::equals(const NonlinearFactor& other, double tol) const {
   const This *e = dynamic_cast<const This*>(&other);
-  return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol);
+  return e != nullptr && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol);
 }
 
 //------------------------------------------------------------------------------

gtsam/navigation/AttitudeFactor.cpp

@@ -52,7 +52,7 @@ void Rot3AttitudeFactor::print(const string& s,
 bool Rot3AttitudeFactor::equals(const NonlinearFactor& expected,
     double tol) const {
   const This* e = dynamic_cast<const This*>(&expected);
-  return e != NULL && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol)
+  return e != nullptr && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol)
       && this->bRef_.equals(e->bRef_, tol);
 }
 
@@ -69,7 +69,7 @@ void Pose3AttitudeFactor::print(const string& s,
 bool Pose3AttitudeFactor::equals(const NonlinearFactor& expected,
     double tol) const {
   const This* e = dynamic_cast<const This*>(&expected);
-  return e != NULL && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol)
+  return e != nullptr && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol)
       && this->bRef_.equals(e->bRef_, tol);
 }
 

gtsam/navigation/CombinedImuFactor.cpp

@@ -174,7 +174,7 @@ void CombinedImuFactor::print(const string& s,
 //------------------------------------------------------------------------------
 bool CombinedImuFactor::equals(const NonlinearFactor& other, double tol) const {
   const This* e = dynamic_cast<const This*>(&other);
-  return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol);
+  return e != nullptr && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol);
 }
 
 //------------------------------------------------------------------------------

gtsam/navigation/GPSFactor.cpp

@@ -32,7 +32,7 @@ void GPSFactor::print(const string& s, const KeyFormatter& keyFormatter) const {
 //***************************************************************************
 bool GPSFactor::equals(const NonlinearFactor& expected, double tol) const {
   const This* e = dynamic_cast<const This*>(&expected);
-  return e != NULL && Base::equals(*e, tol) && traits<Point3>::Equals(nT_, e->nT_, tol);
+  return e != nullptr && Base::equals(*e, tol) && traits<Point3>::Equals(nT_, e->nT_, tol);
 }
 
 //***************************************************************************
@@ -73,7 +73,7 @@ void GPSFactor2::print(const string& s, const KeyFormatter& keyFormatter) const
 //***************************************************************************
 bool GPSFactor2::equals(const NonlinearFactor& expected, double tol) const {
   const This* e = dynamic_cast<const This*>(&expected);
-  return e != NULL && Base::equals(*e, tol) &&
+  return e != nullptr && Base::equals(*e, tol) &&
          traits<Point3>::Equals(nT_, e->nT_, tol);
 }
 

gtsam/nonlinear/ISAM2Params.h

@@ -219,7 +219,7 @@ struct GTSAM_EXPORT ISAM2Params {
 
   /// When you will be removing many factors, e.g. when using ISAM2 as a
   /// fixed-lag smoother, enable this option to add factors in the first
-  /// available factor slots, to avoid accumulating NULL factor slots, at the
+  /// available factor slots, to avoid accumulating nullptr factor slots, at the
   /// cost of having to search for slots every time a factor is added.
   bool findUnusedFactorSlots;
 

gtsam/nonlinear/NonlinearFactorGraph.cpp

@@ -54,7 +54,7 @@ void NonlinearFactorGraph::print(const std::string& str, const KeyFormatter& key
   for (size_t i = 0; i < factors_.size(); i++) {
     stringstream ss;
     ss << "Factor " << i << ": ";
-    if (factors_[i] != NULL) factors_[i]->print(ss.str(), keyFormatter);
+    if (factors_[i] != nullptr) factors_[i]->print(ss.str(), keyFormatter);
     cout << endl;
   }
 }
@@ -67,8 +67,8 @@ void NonlinearFactorGraph::printErrors(const Values& values, const std::string&
   for (size_t i = 0; i < factors_.size(); i++) {
     stringstream ss;
     ss << "Factor " << i << ": ";
-    if (factors_[i] == NULL) {
-      cout << "NULL" << endl;
+    if (factors_[i] == nullptr) {
+      cout << "nullptr" << endl;
     } else {
       factors_[i]->print(ss.str(), keyFormatter);
       cout << "error = " << factors_[i]->error(values) << endl;

gtsam/nonlinear/tests/testCallRecord.cpp

@@ -98,7 +98,7 @@ struct Record: public internal::CallRecordImplementor<Record, Cols> {
   friend struct internal::CallRecordImplementor;
 };
 
-internal::JacobianMap & NJM= *static_cast<internal::JacobianMap *>(NULL);
+internal::JacobianMap & NJM= *static_cast<internal::JacobianMap *>(nullptr);
 
 /* ************************************************************************* */
 typedef Eigen::Matrix<double, Eigen::Dynamic, Cols> DynRowMat;

gtsam/slam/AntiFactor.h

@@ -67,7 +67,7 @@ namespace gtsam {
     /** equals */
     virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
       const This *e =  dynamic_cast<const This*> (&expected);
-      return e != NULL && Base::equals(*e, tol) && this->factor_->equals(*e->factor_, tol);
+      return e != nullptr && Base::equals(*e, tol) && this->factor_->equals(*e->factor_, tol);
     }
 
     /** implement functions needed to derive from Factor */

gtsam/slam/BetweenFactor.h

@@ -81,7 +81,7 @@ namespace gtsam {
     /** equals */
     virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
       const This *e =  dynamic_cast<const This*> (&expected);
-      return e != NULL && Base::equals(*e, tol) && traits<T>::Equals(this->measured_, e->measured_, tol);
+      return e != nullptr && Base::equals(*e, tol) && traits<T>::Equals(this->measured_, e->measured_, tol);
     }
 
     /** implement functions needed to derive from Factor */

gtsam/slam/EssentialMatrixConstraint.cpp

@@ -37,7 +37,7 @@ void EssentialMatrixConstraint::print(const std::string& s,
 bool EssentialMatrixConstraint::equals(const NonlinearFactor& expected,
     double tol) const {
   const This *e = dynamic_cast<const This*>(&expected);
-  return e != NULL && Base::equals(*e, tol)
+  return e != nullptr && Base::equals(*e, tol)
       && this->measuredE_.equals(e->measuredE_, tol);
 }
 

gtsam/slam/JacobianFactorSVD.h

@@ -65,7 +65,7 @@ public:
       Base() {
     size_t numKeys = Enull.rows() / ZDim;
     size_t m2 = ZDim * numKeys - 3; // TODO: is this not just Enull.rows()?
-    // PLAIN NULL SPACE TRICK
+    // PLAIN nullptr SPACE TRICK
     // Matrix Q = Enull * Enull.transpose();
     // for(const KeyMatrixZD& it: Fblocks)
     //   QF.push_back(KeyMatrix(it.first, Q.block(0, 2 * j++, m2, 2) * it.second));

gtsam/slam/OrientedPlane3Factor.cpp

@@ -31,7 +31,7 @@ void OrientedPlane3DirectionPrior::print(const string& s,
 bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected,
     double tol) const {
   const This* e = dynamic_cast<const This*>(&expected);
-  return e != NULL && Base::equals(*e, tol)
+  return e != nullptr && Base::equals(*e, tol)
       && this->measured_p_.equals(e->measured_p_, tol);
 }
 

gtsam/slam/PoseRotationPrior.h

@@ -62,7 +62,7 @@ public:
   /** equals specialized to this factor */
   virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
     const This *e = dynamic_cast<const This*> (&expected);
-    return e != NULL && Base::equals(*e, tol) && measured_.equals(e->measured_, tol);
+    return e != nullptr && Base::equals(*e, tol) && measured_.equals(e->measured_, tol);
   }
 
   /** print contents */

gtsam/slam/PoseTranslationPrior.h

@@ -76,7 +76,7 @@ public:
   /** equals specialized to this factor */
   virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
     const This *e = dynamic_cast<const This*> (&expected);
-    return e != NULL && Base::equals(*e, tol) && traits<Translation>::Equals(measured_, e->measured_, tol);
+    return e != nullptr && Base::equals(*e, tol) && traits<Translation>::Equals(measured_, e->measured_, tol);
   }
 
   /** print contents */

gtsam/slam/PriorFactor.h

@@ -85,7 +85,7 @@ namespace gtsam {
     /** equals */
     virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
       const This* e = dynamic_cast<const This*> (&expected);
-      return e != NULL && Base::equals(*e, tol) && traits<T>::Equals(prior_, e->prior_, tol);
+      return e != nullptr && Base::equals(*e, tol) && traits<T>::Equals(prior_, e->prior_, tol);
     }
 
     /** implement functions needed to derive from Factor */

gtsam/slam/tests/testOrientedPlane3Factor.cpp

@@ -175,7 +175,7 @@ TEST( OrientedPlane3DirectionPrior, Constructor ) {
 
 /* ************************************************************************* */
 int main() {
-  srand(time(NULL));
+  srand(time(nullptr));
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }

gtsam_unstable/base/BTree.h

@@ -72,7 +72,7 @@ namespace gtsam {
     }; // Node
 
     // We store a shared pointer to the root of the functional tree
-    // composed of Node classes. If root_==NULL, the tree is empty.
+    // composed of Node classes. If root_==nullptr, the tree is empty.
     typedef boost::shared_ptr<const Node> sharedNode;
     sharedNode root_;
 
@@ -223,7 +223,7 @@ namespace gtsam {
 
     /** Return height of the tree, 0 if empty */
     size_t height() const {
-      return (root_ != NULL) ? root_->height_ : 0;
+      return (root_ != nullptr) ? root_->height_ : 0;
     }
 
     /** return size of the tree */

gtsam_unstable/linear/tests/testLinearEquality.cpp

@@ -136,7 +136,7 @@ TEST(LinearEquality, error)
 /* ************************************************************************* */
 TEST(LinearEquality, matrices_NULL)
 {
-  // Make sure everything works with NULL noise model
+  // Make sure everything works with nullptr noise model
   LinearEquality factor(simple::terms, simple::b, 0);
 
   Matrix AExpected(3, 9);

gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp

@@ -39,7 +39,7 @@ bool BatchFixedLagSmoother::equals(const FixedLagSmoother& rhs,
     double tol) const {
   const BatchFixedLagSmoother* e =
       dynamic_cast<const BatchFixedLagSmoother*>(&rhs);
-  return e != NULL && FixedLagSmoother::equals(*e, tol)
+  return e != nullptr && FixedLagSmoother::equals(*e, tol)
       && factors_.equals(e->factors_, tol) && theta_.equals(e->theta_, tol);
 }
 
@@ -145,7 +145,7 @@ void BatchFixedLagSmoother::removeFactors(
     } else {
       // TODO: Throw an error??
       cout << "Attempting to remove a factor from slot " << slot
-          << ", but it is already NULL." << endl;
+          << ", but it is already nullptr." << endl;
     }
   }
 }
@@ -370,7 +370,7 @@ void BatchFixedLagSmoother::PrintSymbolicFactor(
       cout << " " << DefaultKeyFormatter(key);
     }
   } else {
-    cout << " NULL";
+    cout << " nullptr";
   }
   cout << " )" << endl;
 }

gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp

@@ -38,7 +38,7 @@ void ConcurrentBatchFilter::PrintNonlinearFactor(const NonlinearFactor::shared_p
     }
     std::cout << ")" << std::endl;
   } else {
-    std::cout << "{ NULL }" << std::endl;
+    std::cout << "{ nullptr }" << std::endl;
   }
 }
 
@@ -79,7 +79,7 @@ void ConcurrentBatchFilter::PrintLinearFactor(const GaussianFactor::shared_ptr&
     }
     std::cout << ")" << std::endl;
   } else {
-    std::cout << "{ NULL }" << std::endl;
+    std::cout << "{ nullptr }" << std::endl;
   }
 }
 

gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp

@@ -394,7 +394,7 @@ void ConcurrentBatchSmoother::PrintNonlinearFactor(const NonlinearFactor::shared
     }
     std::cout << ")" << std::endl;
   } else {
-    std::cout << "{ NULL }" << std::endl;
+    std::cout << "{ nullptr }" << std::endl;
   }
 }
 
@@ -408,7 +408,7 @@ void ConcurrentBatchSmoother::PrintLinearFactor(const GaussianFactor::shared_ptr
     }
     std::cout << ")" << std::endl;
   } else {
-    std::cout << "{ NULL }" << std::endl;
+    std::cout << "{ nullptr }" << std::endl;
   }
 }
 

gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp

@@ -58,7 +58,7 @@ bool IncrementalFixedLagSmoother::equals(const FixedLagSmoother& rhs,
     double tol) const {
   const IncrementalFixedLagSmoother* e =
       dynamic_cast<const IncrementalFixedLagSmoother*>(&rhs);
-  return e != NULL && FixedLagSmoother::equals(*e, tol)
+  return e != nullptr && FixedLagSmoother::equals(*e, tol)
       && isam_.equals(e->isam_, tol);
 }
 

gtsam_unstable/partition/FindSeparator-inl.h

@@ -83,14 +83,14 @@ namespace gtsam { namespace partition {
     graph_t *graph;
     real_t *tpwgts2;
     ctrl_t *ctrl;
-    ctrl = SetupCtrl(METIS_OP_OMETIS, options, 1, 3, NULL, NULL);
+    ctrl = SetupCtrl(METIS_OP_OMETIS, options, 1, 3, nullptr, nullptr);
     ctrl->iptype = METIS_IPTYPE_GROW;
-    //if () == NULL)
+    //if () == nullptr)
     //  return METIS_ERROR_INPUT;
 
     InitRandom(ctrl->seed);
 
-    graph = SetupGraph(ctrl, *nvtxs, 1, xadj, adjncy, vwgt, NULL, NULL);
+    graph = SetupGraph(ctrl, *nvtxs, 1, xadj, adjncy, vwgt, nullptr, nullptr);
 
     AllocateWorkSpace(ctrl, graph);
 

gtsam_unstable/slam/BiasedGPSFactor.h

@@ -66,7 +66,7 @@ namespace gtsam {
     /** equals */
     virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
       const This *e =  dynamic_cast<const This*> (&expected);
-      return e != NULL && Base::equals(*e, tol) && traits<Point3>::Equals(this->measured_, e->measured_, tol);
+      return e != nullptr && Base::equals(*e, tol) && traits<Point3>::Equals(this->measured_, e->measured_, tol);
     }
 
     /** implement functions needed to derive from Factor */

gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h

@@ -155,7 +155,7 @@ public:
   /** equals */
   virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
     const This *e =  dynamic_cast<const This*> (&expected);
-    return e != NULL && Base::equals(*e, tol)
+    return e != nullptr && Base::equals(*e, tol)
     && (delta_pos_in_t0_ - e->delta_pos_in_t0_).norm() < tol
     && (delta_vel_in_t0_ - e->delta_vel_in_t0_).norm() < tol
     && (delta_angles_ - e->delta_angles_).norm() < tol

gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h

@@ -153,7 +153,7 @@ public:
   /** equals */
   virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
     const This *e =  dynamic_cast<const This*> (&expected);
-    return e != NULL && Base::equals(*e, tol)
+    return e != nullptr && Base::equals(*e, tol)
     && (delta_pos_in_t0_ - e->delta_pos_in_t0_).norm() < tol
     && (delta_vel_in_t0_ - e->delta_vel_in_t0_).norm() < tol
     && (delta_angles_ - e->delta_angles_).norm() < tol

gtsam_unstable/slam/GaussMarkov1stOrderFactor.h

@@ -81,7 +81,7 @@ public:
   /** equals */
   virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
     const This *e =  dynamic_cast<const This*> (&expected);
-    return e != NULL && Base::equals(*e, tol);
+    return e != nullptr && Base::equals(*e, tol);
   }
 
   /** implement functions needed to derive from Factor */

gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h

@@ -135,7 +135,7 @@ public:
   /** equals */
   virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
     const This *e =  dynamic_cast<const This*> (&expected);
-    return e != NULL && Base::equals(*e, tol)
+    return e != nullptr && Base::equals(*e, tol)
       && (measurement_acc_ - e->measurement_acc_).norm() < tol
       && (measurement_gyro_ - e->measurement_gyro_).norm() < tol
       && (dt_ - e->dt_) < tol

gtsam_unstable/slam/PartialPriorFactor.h

@@ -100,7 +100,7 @@ namespace gtsam {
     /** equals */
     virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
       const This *e = dynamic_cast<const This*> (&expected);
-      return e != NULL && Base::equals(*e, tol) &&
+      return e != nullptr && Base::equals(*e, tol) &&
           gtsam::equal_with_abs_tol(this->prior_, e->prior_, tol) &&
           this->mask_ == e->mask_;
     }

gtsam_unstable/slam/PoseBetweenFactor.h

@@ -79,7 +79,7 @@ namespace gtsam {
     /** equals */
     virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
       const This *e =  dynamic_cast<const This*> (&expected);
-      return e != NULL
+      return e != nullptr
           && Base::equals(*e, tol)
           && this->measured_.equals(e->measured_, tol)
           && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_)));

gtsam_unstable/slam/PosePriorFactor.h

@@ -74,7 +74,7 @@ namespace gtsam {
     /** equals */
     virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
       const This* e = dynamic_cast<const This*> (&expected);
-      return e != NULL
+      return e != nullptr
           && Base::equals(*e, tol)
           && this->prior_.equals(e->prior_, tol)
           && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_)));

gtsam_unstable/slam/RelativeElevationFactor.cpp

@@ -38,7 +38,7 @@ Vector RelativeElevationFactor::evaluateError(const Pose3& pose, const Point3& p
 /* ************************************************************************* */
 bool RelativeElevationFactor::equals(const NonlinearFactor& expected, double tol) const {
   const This *e = dynamic_cast<const This*> (&expected);
-  return e != NULL && Base::equals(*e, tol) && std::abs(this->measured_ - e->measured_) < tol;
+  return e != nullptr && Base::equals(*e, tol) && std::abs(this->measured_ - e->measured_) < tol;
 }
 
 /* ************************************************************************* */

tests/testExtendedKalmanFilter.cpp

@@ -162,7 +162,7 @@ public:
   /** Check if two factors are equal. Note type is IndexFactor and needs cast. */
   virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const {
     const This *e = dynamic_cast<const This*> (&f);
-    return (e != NULL) && (key1() == e->key1()) && (key2() == e->key2());
+    return (e != nullptr) && (key1() == e->key1()) && (key2() == e->key2());
   }
 
   /**
@@ -196,7 +196,7 @@ public:
     Vector b = -evaluateError(x1, x2, A1, A2);
     SharedDiagonal constrained =
         boost::dynamic_pointer_cast<noiseModel::Constrained>(this->noiseModel_);
-    if (constrained.get() != NULL) {
+    if (constrained.get() != nullptr) {
       return JacobianFactor::shared_ptr(new JacobianFactor(key1(), A1, key2(),
           A2, b, constrained));
     }
@@ -292,7 +292,7 @@ public:
   /** Check if two factors are equal. Note type is IndexFactor and needs cast. */
   virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const {
     const This *e = dynamic_cast<const This*> (&f);
-    return (e != NULL) && Base::equals(f);
+    return (e != nullptr) && Base::equals(f);
   }
 
   /**
@@ -325,7 +325,7 @@ public:
     Vector b = -evaluateError(x1, A1);
     SharedDiagonal constrained =
         boost::dynamic_pointer_cast<noiseModel::Constrained>(this->noiseModel_);
-    if (constrained.get() != NULL) {
+    if (constrained.get() != nullptr) {
       return JacobianFactor::shared_ptr(new JacobianFactor(key(), A1, b, constrained));
     }
     // "Whiten" the system before converting to a Gaussian Factor