Fixed remaining lint errors

gtsam_unstable/slam/SmartRangeFactor.h

@@ -29,7 +29,6 @@ namespace gtsam {
  */
 class SmartRangeFactor: public NoiseModelFactor {
  protected:
-
   struct Circle2 {
     Circle2(const Point2& p, double r) :
         center(p), radius(r) {
@@ -44,7 +43,6 @@ protected:
   double variance_;  ///< variance on noise
 
  public:
-
   /** Default constructor: don't use directly */
   SmartRangeFactor() {
   }
@@ -53,7 +51,7 @@ public:
    * Constructor
    * @param s standard deviation of range measurement noise
    */
-  SmartRangeFactor(double s) :
+  explicit SmartRangeFactor(double s) :
       NoiseModelFactor(noiseModel::Isotropic::Sigma(1, s)), variance_(s * s) {
   }
 
@@ -147,19 +145,20 @@ public:
       boost::optional<std::vector<Matrix>&> H = boost::none) const {
     size_t n = size();
     if (n < 3) {
-      if (H)
+      if (H) {
         // set Jacobians to zero for n<3
         for (size_t j = 0; j < n; j++)
           (*H)[j] = Matrix::Zero(3, 1);
+      }
       return Z_1x1;
     } else {
       Vector error = Z_1x1;
 
       // triangulate to get the optimized point
-      // TODO: Should we have a (better?) variant that does this in relative coordinates ?
+      // TODO(dellaert): Should we have a (better?) variant that does this in relative coordinates ?
       Point2 optimizedPoint = triangulate(x);
 
-      // TODO: triangulation should be followed by an optimization given poses
+      // TODO(dellaert): triangulation should be followed by an optimization given poses
       // now evaluate the errors between predicted and measured range
       for (size_t j = 0; j < n; j++) {
         const Pose2& pose = x.at<Pose2>(keys_[j]);
@@ -178,8 +177,6 @@ public:
     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
         gtsam::NonlinearFactor::shared_ptr(new This(*this)));
   }
-
 };
-
 }  // \namespace gtsam