diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp
index e6a0f6622..33fe96ed8 100644
--- a/examples/LocalizationExample.cpp
+++ b/examples/LocalizationExample.cpp
@@ -78,7 +78,7 @@ class UnaryFactor: public NoiseModelFactor1<Pose2> {
   UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model):
     NoiseModelFactor1<Pose2>(model, j), mx_(x), my_(y) {}
 
-  virtual ~UnaryFactor() {}
+  ~UnaryFactor() override {}
 
   // Using the NoiseModelFactor1 base class there are two functions that must be overridden.
   // The first is the 'evaluateError' function. This function implements the desired measurement
diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
index 0e928765f..e3d6ae39c 100644
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@@ -74,7 +74,7 @@ public:
   }
 
   /// Destructor
-  virtual ~GenericValue() {
+  ~GenericValue() override {
   }
 
   /// equals implementing generic Value interface
diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h
index 744759f5b..8d5115a19 100644
--- a/gtsam/base/ThreadsafeException.h
+++ b/gtsam/base/ThreadsafeException.h
@@ -72,7 +72,7 @@ protected:
   }
 
   /// Default destructor doesn't have the noexcept
-  virtual ~ThreadsafeException() noexcept {
+  ~ThreadsafeException() noexcept override {
   }
 
 public:
@@ -114,7 +114,7 @@ class CholeskyFailed : public gtsam::ThreadsafeException<CholeskyFailed>
 {
 public:
   CholeskyFailed() noexcept {}
-  virtual ~CholeskyFailed() noexcept {}
+  ~CholeskyFailed() noexcept override {}
 };
 
 } // namespace gtsam
diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index dd10500e6..80b226e3a 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -155,7 +155,7 @@ namespace gtsam {
 
   public:
 
-    virtual ~Choice() {
+    ~Choice() override {
 #ifdef DT_DEBUG_MEMORY
         std::std::cout << Node::nrNodes << " destructing (Choice) " << this->id() << std::std::endl;
 #endif
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index 0016ded2d..0d7c1be9d 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -60,7 +60,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
               double tol = 1e-5)
       : Cal3(f, f, 0, u0, v0), k1_(k1), k2_(k2), tol_(tol) {}
 
-  virtual ~Cal3Bundler() {}
+  ~Cal3Bundler() override {}
 
   /// @}
   /// @name Testable
@@ -141,7 +141,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
   /// @{
 
   /// return DOF, dimensionality of tangent space
-  virtual size_t dim() const override { return Dim(); }
+  size_t dim() const override { return Dim(); }
 
   /// return DOF, dimensionality of tangent space
   inline static size_t Dim() { return dimension; }
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 58d35c2ec..f756cba5e 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -47,7 +47,7 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
           double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5)
       : Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {}
 
-  virtual ~Cal3DS2() {}
+  ~Cal3DS2() override {}
 
   /// @}
   /// @name Advanced Constructors
@@ -80,7 +80,7 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
   Vector localCoordinates(const Cal3DS2& T2) const;
 
   /// Return dimensions of calibration manifold object
-  virtual size_t dim() const override { return Dim(); }
+  size_t dim() const override { return Dim(); }
 
   /// Return dimensions of calibration manifold object
   inline static size_t Dim() { return dimension; }
diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h
index 23e138838..a9b09cf46 100644
--- a/gtsam/geometry/Cal3DS2_Base.h
+++ b/gtsam/geometry/Cal3DS2_Base.h
@@ -62,7 +62,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
         p2_(p2),
         tol_(tol) {}
 
-  virtual ~Cal3DS2_Base() {}
+  ~Cal3DS2_Base() override {}
 
   /// @}
   /// @name Advanced Constructors
@@ -132,7 +132,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
   Matrix29 D2d_calibration(const Point2& p) const;
 
   /// return DOF, dimensionality of tangent space
-  virtual size_t dim() const override { return Dim(); }
+  size_t dim() const override { return Dim(); }
 
   /// return DOF, dimensionality of tangent space
   inline static size_t Dim() { return dimension; }
diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h
index a394d2000..a8c9fa182 100644
--- a/gtsam/geometry/Cal3Fisheye.h
+++ b/gtsam/geometry/Cal3Fisheye.h
@@ -73,7 +73,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
         k4_(k4),
         tol_(tol) {}
 
-  virtual ~Cal3Fisheye() {}
+  ~Cal3Fisheye() override {}
 
   /// @}
   /// @name Advanced Constructors
@@ -142,7 +142,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
                                                const Cal3Fisheye& cal);
 
   /// print with optional string
-  virtual void print(const std::string& s = "") const override;
+  void print(const std::string& s = "") const override;
 
   /// assert equality up to a tolerance
   bool equals(const Cal3Fisheye& K, double tol = 10e-9) const;
@@ -152,7 +152,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
   /// @{
 
   /// Return dimensions of calibration manifold object
-  virtual size_t dim() const override { return Dim(); }
+  size_t dim() const override { return Dim(); }
 
   /// Return dimensions of calibration manifold object
   inline static size_t Dim() { return dimension; }
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index ee388c8c1..f07ca0a54 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -62,7 +62,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
               double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0)
       : Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {}
 
-  virtual ~Cal3Unified() {}
+  ~Cal3Unified() override {}
 
   /// @}
   /// @name Advanced Constructors
@@ -127,7 +127,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
   Vector localCoordinates(const Cal3Unified& T2) const;
 
   /// Return dimensions of calibration manifold object
-  virtual size_t dim() const override { return Dim(); }
+  size_t dim() const override { return Dim(); }
 
   /// Return dimensions of calibration manifold object
   inline static size_t Dim() { return dimension; }
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index cf449ce8c..ecff766e2 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -157,7 +157,7 @@ public:
   /// @name Standard Interface
   /// @{
 
-  virtual ~PinholeCamera() {
+  ~PinholeCamera() override {
   }
 
   /// return pose
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 3bf96c08b..1b5a06609 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -352,7 +352,7 @@ public:
   /// @name Standard Interface
   /// @{
 
-  virtual ~PinholePose() {
+  ~PinholePose() override {
   }
 
   /// return shared pointer to calibration
diff --git a/gtsam/inference/inferenceExceptions.h b/gtsam/inference/inferenceExceptions.h
index 4409b16c7..bcd986983 100644
--- a/gtsam/inference/inferenceExceptions.h
+++ b/gtsam/inference/inferenceExceptions.h
@@ -29,7 +29,7 @@ namespace gtsam {
   class InconsistentEliminationRequested : public std::exception {
   public:
     InconsistentEliminationRequested() noexcept {}
-    virtual ~InconsistentEliminationRequested() noexcept {}
+    ~InconsistentEliminationRequested() noexcept override {}
     const char* what() const noexcept override {
       return
         "An inference algorithm was called with inconsistent arguments.  The\n"
diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h
index a4de46104..0f4c993fe 100644
--- a/gtsam/linear/HessianFactor.h
+++ b/gtsam/linear/HessianFactor.h
@@ -183,7 +183,7 @@ namespace gtsam {
         : HessianFactor(factors, Scatter(factors)) {}
 
     /** Destructor */
-    virtual ~HessianFactor() {}
+    ~HessianFactor() override {}
 
     /** Clone this HessianFactor */
     GaussianFactor::shared_ptr clone() const override {
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index 49c47c7f0..4d4480d32 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -183,7 +183,7 @@ namespace gtsam {
       const VariableSlots& p_variableSlots);
 
     /** Virtual destructor */
-    virtual ~JacobianFactor() {}
+    ~JacobianFactor() override {}
 
     /** Clone this JacobianFactor */
     GaussianFactor::shared_ptr clone() const override {
diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h
index 771992e80..4705721a0 100644
--- a/gtsam/linear/LossFunctions.h
+++ b/gtsam/linear/LossFunctions.h
@@ -129,7 +129,7 @@ class GTSAM_EXPORT Null : public Base {
   typedef boost::shared_ptr<Null> shared_ptr;
 
   Null(const ReweightScheme reweight = Block) : Base(reweight) {}
-  ~Null() {}
+  ~Null() override {}
   double weight(double /*error*/) const override { return 1.0; }
   double loss(double distance) const override { return 0.5 * distance * distance; }
   void print(const std::string &s) const override;
@@ -286,7 +286,7 @@ class GTSAM_EXPORT GemanMcClure : public Base {
   typedef boost::shared_ptr<GemanMcClure> shared_ptr;
 
   GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block);
-  ~GemanMcClure() {}
+  ~GemanMcClure() override {}
   double weight(double distance) const override;
   double loss(double distance) const override;
   void print(const std::string &s) const override;
@@ -316,7 +316,7 @@ class GTSAM_EXPORT DCS : public Base {
   typedef boost::shared_ptr<DCS> shared_ptr;
 
   DCS(double c = 1.0, const ReweightScheme reweight = Block);
-  ~DCS() {}
+  ~DCS() override {}
   double weight(double distance) const override;
   double loss(double distance) const override;
   void print(const std::string &s) const override;
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index a9b46bd16..2fb54d329 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -188,7 +188,7 @@ namespace gtsam {
 
       typedef boost::shared_ptr<Gaussian> shared_ptr;
 
-      virtual ~Gaussian() {}
+      ~Gaussian() override {}
 
       /**
        * A Gaussian noise model created by specifying a square root information matrix.
@@ -300,7 +300,7 @@ namespace gtsam {
 
       typedef boost::shared_ptr<Diagonal> shared_ptr;
 
-      virtual ~Diagonal() {}
+      ~Diagonal() override {}
 
       /**
        * A diagonal noise model created by specifying a Vector of sigmas, i.e.
@@ -406,7 +406,7 @@ namespace gtsam {
 
       typedef boost::shared_ptr<Constrained> shared_ptr;
 
-      ~Constrained() {}
+      ~Constrained() override {}
 
       /// true if a constrained noise mode, saves slow/clumsy dynamic casting
       bool isConstrained() const override { return true; }
@@ -536,7 +536,7 @@ namespace gtsam {
 
     public:
 
-      virtual ~Isotropic() {}
+      ~Isotropic() override {}
 
       typedef boost::shared_ptr<Isotropic> shared_ptr;
 
@@ -600,7 +600,7 @@ namespace gtsam {
 
       typedef boost::shared_ptr<Unit> shared_ptr;
 
-      ~Unit() {}
+      ~Unit() override {}
 
       /**
        * Create a unit covariance noise model
@@ -671,7 +671,7 @@ namespace gtsam {
       : Base(noise->dim()), robust_(robust), noise_(noise) {}
 
       /// Destructor
-      ~Robust() {}
+      ~Robust() override {}
 
       void print(const std::string& name) const override;
       bool equals(const Base& expected, double tol=1e-9) const override;
diff --git a/gtsam/linear/PCGSolver.h b/gtsam/linear/PCGSolver.h
index 515f2eed2..198b77ec8 100644
--- a/gtsam/linear/PCGSolver.h
+++ b/gtsam/linear/PCGSolver.h
@@ -72,7 +72,7 @@ protected:
 public:
   /* Interface to initialize a solver without a problem */
   PCGSolver(const PCGSolverParameters &p);
-  virtual ~PCGSolver() {
+  ~PCGSolver() override {
   }
 
   using IterativeSolver::optimize;
diff --git a/gtsam/linear/Preconditioner.h b/gtsam/linear/Preconditioner.h
index eceb19982..3a406c0a5 100644
--- a/gtsam/linear/Preconditioner.h
+++ b/gtsam/linear/Preconditioner.h
@@ -96,7 +96,7 @@ struct GTSAM_EXPORT DummyPreconditionerParameters : public PreconditionerParamet
   typedef PreconditionerParameters Base;
   typedef boost::shared_ptr<DummyPreconditionerParameters> shared_ptr;
   DummyPreconditionerParameters() : Base() {}
-  virtual ~DummyPreconditionerParameters() {}
+  ~DummyPreconditionerParameters() override {}
 };
 
 /*******************************************************************************************/
@@ -108,7 +108,7 @@ public:
 public:
 
   DummyPreconditioner() : Base() {}
-  virtual ~DummyPreconditioner() {}
+  ~DummyPreconditioner() override {}
 
   /* Computation Interfaces for raw vector */
   void solve(const Vector& y, Vector &x) const override { x = y; }
@@ -124,7 +124,7 @@ public:
 struct GTSAM_EXPORT BlockJacobiPreconditionerParameters : public PreconditionerParameters {
   typedef PreconditionerParameters Base;
   BlockJacobiPreconditionerParameters() : Base() {}
-  virtual ~BlockJacobiPreconditionerParameters() {}
+  ~BlockJacobiPreconditionerParameters() override {}
 };
 
 /*******************************************************************************************/
@@ -132,7 +132,7 @@ class GTSAM_EXPORT BlockJacobiPreconditioner : public Preconditioner {
 public:
   typedef Preconditioner Base;
   BlockJacobiPreconditioner() ;
-  virtual ~BlockJacobiPreconditioner() ;
+  ~BlockJacobiPreconditioner() override ;
 
   /* Computation Interfaces for raw vector */
   void solve(const Vector& y, Vector &x) const override;
diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h
index 8906337a9..681c12e40 100644
--- a/gtsam/linear/SubgraphPreconditioner.h
+++ b/gtsam/linear/SubgraphPreconditioner.h
@@ -80,7 +80,7 @@ namespace gtsam {
     SubgraphPreconditioner(const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar,
                            const SubgraphPreconditionerParameters &p = SubgraphPreconditionerParameters());
 
-    virtual ~SubgraphPreconditioner() {}
+    ~SubgraphPreconditioner() override {}
 
     /** print the object */
     void print(const std::string& s = "SubgraphPreconditioner") const;
diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h
index 3c5f79cfc..a41738321 100644
--- a/gtsam/linear/SubgraphSolver.h
+++ b/gtsam/linear/SubgraphSolver.h
@@ -111,7 +111,7 @@ class GTSAM_EXPORT SubgraphSolver : public IterativeSolver {
                  const Parameters &parameters);
 
   /// Destructor
-  virtual ~SubgraphSolver() {}
+  ~SubgraphSolver() override {}
 
   /// @}
   /// @name Implement interface
diff --git a/gtsam/linear/linearExceptions.h b/gtsam/linear/linearExceptions.h
index f0ad0be39..72981613e 100644
--- a/gtsam/linear/linearExceptions.h
+++ b/gtsam/linear/linearExceptions.h
@@ -95,7 +95,7 @@ namespace gtsam {
     Key j_;
   public:
     IndeterminantLinearSystemException(Key j) noexcept : j_(j) {}
-    virtual ~IndeterminantLinearSystemException() noexcept {}
+    ~IndeterminantLinearSystemException() noexcept override {}
     Key nearbyVariable() const { return j_; }
     const char* what() const noexcept override;
   };
@@ -110,7 +110,7 @@ namespace gtsam {
 
     InvalidNoiseModel(DenseIndex factorDims, DenseIndex noiseModelDims) :
       factorDims(factorDims), noiseModelDims(noiseModelDims) {}
-    virtual ~InvalidNoiseModel() noexcept {}
+    ~InvalidNoiseModel() noexcept override {}
 
     const char* what() const noexcept override;
 
@@ -128,7 +128,7 @@ namespace gtsam {
 
     InvalidMatrixBlock(DenseIndex factorRows, DenseIndex blockRows) :
       factorRows(factorRows), blockRows(blockRows) {}
-    virtual ~InvalidMatrixBlock() noexcept {}
+    ~InvalidMatrixBlock() noexcept override {}
 
     const char* what() const noexcept override;
 
diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h
index 34626fcf6..1ab2d7cdc 100644
--- a/gtsam/navigation/AHRSFactor.h
+++ b/gtsam/navigation/AHRSFactor.h
@@ -154,7 +154,7 @@ public:
   AHRSFactor(Key rot_i, Key rot_j, Key bias,
       const PreintegratedAhrsMeasurements& preintegratedMeasurements);
 
-  virtual ~AHRSFactor() {
+  ~AHRSFactor() override {
   }
 
   /// @return a deep copy of this factor
diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h
index 9a0a11cfb..23fbbca89 100644
--- a/gtsam/navigation/AttitudeFactor.h
+++ b/gtsam/navigation/AttitudeFactor.h
@@ -92,7 +92,7 @@ public:
   Rot3AttitudeFactor() {
   }
 
-  virtual ~Rot3AttitudeFactor() {
+  ~Rot3AttitudeFactor() override {
   }
 
   /**
@@ -166,7 +166,7 @@ public:
   Pose3AttitudeFactor() {
   }
 
-  virtual ~Pose3AttitudeFactor() {
+  ~Pose3AttitudeFactor() override {
   }
 
   /**
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index efca25bff..0aeeabc22 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -173,7 +173,7 @@ public:
   }
 
   /// Virtual destructor
-  virtual ~PreintegratedCombinedMeasurements() {}
+  ~PreintegratedCombinedMeasurements() override {}
 
   /// @}
 
@@ -291,7 +291,7 @@ public:
       Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j,
       const PreintegratedCombinedMeasurements& preintegratedMeasurements);
 
-  virtual ~CombinedImuFactor() {}
+  ~CombinedImuFactor() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override;
diff --git a/gtsam/navigation/GPSFactor.h b/gtsam/navigation/GPSFactor.h
index e6d5b88a9..f6469346e 100644
--- a/gtsam/navigation/GPSFactor.h
+++ b/gtsam/navigation/GPSFactor.h
@@ -51,7 +51,7 @@ public:
   /** default constructor - only use for serialization */
   GPSFactor(): nT_(0, 0, 0) {}
 
-  virtual ~GPSFactor() {}
+  ~GPSFactor() override {}
 
   /**
    * @brief Constructor from a measurement in a Cartesian frame.
@@ -129,7 +129,7 @@ public:
   /// default constructor - only use for serialization
   GPSFactor2():nT_(0, 0, 0) {}
 
-  virtual ~GPSFactor2() {}
+  ~GPSFactor2() override {}
 
   /// Constructor from a measurement in a Cartesian frame.
   GPSFactor2(Key key, const Point3& gpsIn, const SharedNoiseModel& model) :
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index cd9c591f1..29bdb2a99 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -107,7 +107,7 @@ public:
   }
 
   /// Virtual destructor
-  virtual ~PreintegratedImuMeasurements() {
+  ~PreintegratedImuMeasurements() override {
   }
 
   /// print
@@ -196,7 +196,7 @@ public:
   ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
       const PreintegratedImuMeasurements& preintegratedMeasurements);
 
-  virtual ~ImuFactor() {
+  ~ImuFactor() override {
   }
 
   /// @return a deep copy of this factor
@@ -274,7 +274,7 @@ public:
   ImuFactor2(Key state_i, Key state_j, Key bias,
              const PreintegratedImuMeasurements& preintegratedMeasurements);
 
-  virtual ~ImuFactor2() {
+  ~ImuFactor2() override {
   }
 
   /// @return a deep copy of this factor
diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h
index 1b51b4e1e..56b0a1c75 100644
--- a/gtsam/navigation/TangentPreintegration.h
+++ b/gtsam/navigation/TangentPreintegration.h
@@ -54,7 +54,7 @@ public:
       const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());
 
   /// Virtual destructor
-  virtual ~TangentPreintegration() {
+  ~TangentPreintegration() override {
   }
 
   /// @}
diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h
index 6b3097476..e278bf075 100644
--- a/gtsam/nonlinear/DoglegOptimizer.h
+++ b/gtsam/nonlinear/DoglegOptimizer.h
@@ -43,7 +43,7 @@ public:
   DoglegParams() :
     deltaInitial(1.0), verbosityDL(SILENT) {}
 
-  virtual ~DoglegParams() {}
+  ~DoglegParams() override {}
 
   void print(const std::string& str = "") const override {
     NonlinearOptimizerParams::print(str);
@@ -103,7 +103,7 @@ public:
   /// @{
 
   /** Virtual destructor */
-  virtual ~DoglegOptimizer() {}
+  ~DoglegOptimizer() override {}
 
   /** 
    * Perform a single iteration, returning GaussianFactorGraph corresponding to 
@@ -121,7 +121,7 @@ public:
 
 protected:
   /** Access the parameters (base class version) */
-  virtual const NonlinearOptimizerParams& _params() const override { return params_; }
+  const NonlinearOptimizerParams& _params() const override { return params_; }
 
   /** Internal function for computing a COLAMD ordering if no ordering is specified */
   DoglegParams ensureHasOrdering(DoglegParams params, const NonlinearFactorGraph& graph) const;
diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h
index 6d6162825..b55d643aa 100644
--- a/gtsam/nonlinear/ExpressionFactor.h
+++ b/gtsam/nonlinear/ExpressionFactor.h
@@ -71,7 +71,7 @@ protected:
   }
 
   /// Destructor
-  virtual ~ExpressionFactor() {}
+  ~ExpressionFactor() override {}
 
   /** return the measurement */
   const T& measured() const { return measured_; }
@@ -245,7 +245,7 @@ public:
   using ArrayNKeys = std::array<Key, NARY_EXPRESSION_SIZE>;
 
   /// Destructor
-  virtual ~ExpressionFactorN() = default;
+  ~ExpressionFactorN() override = default;
 
   // Don't provide backward compatible evaluateVector(), due to its problematic
   // variable length of optional Jacobian arguments. Vector evaluateError(const
@@ -330,7 +330,7 @@ public:
     throw std::runtime_error(
         "ExpressionFactor2::expression not provided: cannot deserialize.");
   }
-  virtual Expression<T>
+  Expression<T>
   expression(const typename ExpressionFactorN<T, A1, A2>::ArrayNKeys &keys)
       const override {
     return expression(keys[0], keys[1]);
diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h
index 53a48f097..691ab8ac8 100644
--- a/gtsam/nonlinear/FunctorizedFactor.h
+++ b/gtsam/nonlinear/FunctorizedFactor.h
@@ -79,7 +79,7 @@ class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1<T> {
                     const std::function<R(T, boost::optional<Matrix &>)> func)
       : Base(model, key), measured_(z), noiseModel_(model), func_(func) {}
 
-  virtual ~FunctorizedFactor() {}
+  ~FunctorizedFactor() override {}
 
   /// @return a deep copy of this factor
   NonlinearFactor::shared_ptr clone() const override {
@@ -183,7 +183,7 @@ class GTSAM_EXPORT FunctorizedFactor2 : public NoiseModelFactor2<T1, T2> {
         noiseModel_(model),
         func_(func) {}
 
-  virtual ~FunctorizedFactor2() {}
+  ~FunctorizedFactor2() override {}
 
   /// @return a deep copy of this factor
   NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.h b/gtsam/nonlinear/GaussNewtonOptimizer.h
index a3923524b..1c40f7fa5 100644
--- a/gtsam/nonlinear/GaussNewtonOptimizer.h
+++ b/gtsam/nonlinear/GaussNewtonOptimizer.h
@@ -70,7 +70,7 @@ public:
   /// @{
 
   /** Virtual destructor */
-  virtual ~GaussNewtonOptimizer() {}
+  ~GaussNewtonOptimizer() override {}
 
   /** 
    * Perform a single iteration, returning GaussianFactorGraph corresponding to 
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
index 2f09f234d..3e4453f4f 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
@@ -69,7 +69,7 @@ public:
                               const LevenbergMarquardtParams& params = LevenbergMarquardtParams());
 
   /** Virtual destructor */
-  virtual ~LevenbergMarquardtOptimizer() {
+  ~LevenbergMarquardtOptimizer() override {
   }
 
   /// @}
diff --git a/gtsam/nonlinear/LevenbergMarquardtParams.h b/gtsam/nonlinear/LevenbergMarquardtParams.h
index 30e783fc9..1e2c6e395 100644
--- a/gtsam/nonlinear/LevenbergMarquardtParams.h
+++ b/gtsam/nonlinear/LevenbergMarquardtParams.h
@@ -122,7 +122,7 @@ public:
     return params;
   }
 
-  virtual ~LevenbergMarquardtParams() {}
+  ~LevenbergMarquardtParams() override {}
   void print(const std::string& str = "") const override;
 
   /// @name Getters/Setters, mainly for wrappers. Use fields above in C++.
diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
index a85f27425..fd9e49a62 100644
--- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
+++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
@@ -67,7 +67,7 @@ public:
       const Values& initialValues, const Parameters& params = Parameters());
 
   /// Destructor
-  virtual ~NonlinearConjugateGradientOptimizer() {
+  ~NonlinearConjugateGradientOptimizer() override {
   }
 
   /** 
diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h
index 6286b73da..f4cf3cc88 100644
--- a/gtsam/nonlinear/NonlinearEquality.h
+++ b/gtsam/nonlinear/NonlinearEquality.h
@@ -77,7 +77,7 @@ public:
   NonlinearEquality() {
   }
 
-  virtual ~NonlinearEquality() {
+  ~NonlinearEquality() override {
   }
 
   /// @name Standard Constructors
@@ -238,7 +238,7 @@ public:
               std::abs(mu)), key), value_(value) {
   }
 
-  virtual ~NonlinearEquality1() {
+  ~NonlinearEquality1() override {
   }
 
   /// @return a deep copy of this factor
@@ -313,7 +313,7 @@ public:
   NonlinearEquality2(Key key1, Key key2, double mu = 1000.0) :
       Base(noiseModel::Constrained::All(traits<X>::dimension, std::abs(mu)), key1, key2) {
   }
-  virtual ~NonlinearEquality2() {
+  ~NonlinearEquality2() override {
   }
 
   /// @return a deep copy of this factor
diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index 00311fb87..8c257f7ca 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -169,7 +169,7 @@ public:
   NoiseModelFactor() {}
 
   /** Destructor */
-  virtual ~NoiseModelFactor() {}
+  ~NoiseModelFactor() override {}
 
   /**
    * Constructor
@@ -293,7 +293,7 @@ public:
   /** Default constructor for I/O only */
   NoiseModelFactor1() {}
 
-  virtual ~NoiseModelFactor1() {}
+  ~NoiseModelFactor1() override {}
 
   inline Key key() const { return keys_[0]; }
 
@@ -387,7 +387,7 @@ public:
   NoiseModelFactor2(const SharedNoiseModel& noiseModel, Key j1, Key j2) :
     Base(noiseModel, cref_list_of<2>(j1)(j2)) {}
 
-  virtual ~NoiseModelFactor2() {}
+  ~NoiseModelFactor2() override {}
 
   /** methods to retrieve both keys */
   inline Key key1() const { return keys_[0];  }
@@ -464,7 +464,7 @@ public:
   NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3) :
     Base(noiseModel, cref_list_of<3>(j1)(j2)(j3)) {}
 
-  virtual ~NoiseModelFactor3() {}
+  ~NoiseModelFactor3() override {}
 
   /** methods to retrieve keys */
   inline Key key1() const { return keys_[0]; }
@@ -543,7 +543,7 @@ public:
   NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4) :
     Base(noiseModel, cref_list_of<4>(j1)(j2)(j3)(j4)) {}
 
-  virtual ~NoiseModelFactor4() {}
+  ~NoiseModelFactor4() override {}
 
   /** methods to retrieve keys */
   inline Key key1() const { return keys_[0]; }
@@ -626,7 +626,7 @@ public:
   NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) :
     Base(noiseModel, cref_list_of<5>(j1)(j2)(j3)(j4)(j5)) {}
 
-  virtual ~NoiseModelFactor5() {}
+  ~NoiseModelFactor5() override {}
 
   /** methods to retrieve keys */
   inline Key key1() const { return keys_[0]; }
@@ -713,7 +713,7 @@ public:
   NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
     Base(noiseModel, cref_list_of<6>(j1)(j2)(j3)(j4)(j5)(j6)) {}
 
-  virtual ~NoiseModelFactor6() {}
+  ~NoiseModelFactor6() override {}
 
   /** methods to retrieve keys */
   inline Key key1() const { return keys_[0]; }
diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h
index 191a7eeaa..c745f7bd9 100644
--- a/gtsam/nonlinear/PriorFactor.h
+++ b/gtsam/nonlinear/PriorFactor.h
@@ -52,7 +52,7 @@ namespace gtsam {
     /** default constructor - only use for serialization */
     PriorFactor() {}
 
-    virtual ~PriorFactor() {}
+    ~PriorFactor() override {}
 
     /** Constructor */
     PriorFactor(Key key, const VALUE& prior, const SharedNoiseModel& model = nullptr) :
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index 120c8839c..893d5572f 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -442,7 +442,7 @@ namespace gtsam {
     ValuesKeyAlreadyExists(Key key) noexcept :
       key_(key) {}
 
-    virtual ~ValuesKeyAlreadyExists() noexcept {}
+    ~ValuesKeyAlreadyExists() noexcept override {}
 
     /// The duplicate key that was attempted to be added
     Key key() const noexcept { return key_; }
@@ -465,7 +465,7 @@ namespace gtsam {
     ValuesKeyDoesNotExist(const char* operation, Key key) noexcept :
       operation_(operation), key_(key) {}
 
-    virtual ~ValuesKeyDoesNotExist() noexcept {}
+    ~ValuesKeyDoesNotExist() noexcept override {}
 
     /// The key that was attempted to be accessed that does not exist
     Key key() const noexcept { return key_; }
@@ -490,7 +490,7 @@ namespace gtsam {
         const std::type_info& storedTypeId, const std::type_info& requestedTypeId) noexcept :
       key_(key), storedTypeId_(storedTypeId), requestedTypeId_(requestedTypeId) {}
 
-    virtual ~ValuesIncorrectType() noexcept {}
+    ~ValuesIncorrectType() noexcept override {}
 
     /// The key that was attempted to be accessed that does not exist
     Key key() const noexcept { return key_; }
@@ -511,7 +511,7 @@ namespace gtsam {
   public:
     DynamicValuesMismatched() noexcept {}
 
-    virtual ~DynamicValuesMismatched() noexcept {}
+    ~DynamicValuesMismatched() noexcept override {}
 
     const char* what() const noexcept override {
       return "The Values 'this' and the argument passed to Values::localCoordinates have mismatched keys and values";
@@ -533,7 +533,7 @@ namespace gtsam {
         M1_(M1), N1_(N1), M2_(M2), N2_(N2) {
     }
 
-    virtual ~NoMatchFoundForFixed() noexcept {
+    ~NoMatchFoundForFixed() noexcept override {
     }
 
     GTSAM_EXPORT const char* what() const noexcept override;
diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h
index 974998830..95f46ab6c 100644
--- a/gtsam/nonlinear/WhiteNoiseFactor.h
+++ b/gtsam/nonlinear/WhiteNoiseFactor.h
@@ -100,7 +100,7 @@ namespace gtsam {
     /// @{
 
     /// Destructor
-    virtual ~WhiteNoiseFactor() {
+    ~WhiteNoiseFactor() override {
     }
 
     /// @}
diff --git a/gtsam/nonlinear/internal/ExpressionNode.h b/gtsam/nonlinear/internal/ExpressionNode.h
index ee3dc8929..2a1a07fb0 100644
--- a/gtsam/nonlinear/internal/ExpressionNode.h
+++ b/gtsam/nonlinear/internal/ExpressionNode.h
@@ -131,7 +131,7 @@ class ConstantExpression: public ExpressionNode<T> {
 public:
 
   /// Destructor
-  virtual ~ConstantExpression() {
+  ~ConstantExpression() override {
   }
 
   /// Print
@@ -172,7 +172,7 @@ class LeafExpression: public ExpressionNode<T> {
 public:
 
   /// Destructor
-  virtual ~LeafExpression() {
+  ~LeafExpression() override {
   }
 
   /// Print
@@ -244,7 +244,7 @@ class UnaryExpression: public ExpressionNode<T> {
 public:
 
   /// Destructor
-  virtual ~UnaryExpression() {
+  ~UnaryExpression() override {
   }
 
   /// Print
@@ -353,7 +353,7 @@ class BinaryExpression: public ExpressionNode<T> {
 public:
 
   /// Destructor
-  virtual ~BinaryExpression() {
+  ~BinaryExpression() override {
   }
 
   /// Print
@@ -460,7 +460,7 @@ class TernaryExpression: public ExpressionNode<T> {
 public:
 
   /// Destructor
-  virtual ~TernaryExpression() {
+  ~TernaryExpression() override {
   }
 
   /// Print
@@ -571,7 +571,7 @@ class ScalarMultiplyNode : public ExpressionNode<T> {
   }
 
   /// Destructor
-  virtual ~ScalarMultiplyNode() {}
+  ~ScalarMultiplyNode() override {}
 
   /// Print
   void print(const std::string& indent = "") const override {
@@ -659,7 +659,7 @@ class BinarySumNode : public ExpressionNode<T> {
   }
 
   /// Destructor
-  virtual ~BinarySumNode() {}
+  ~BinarySumNode() override {}
 
   /// Print
   void print(const std::string& indent = "") const override {
diff --git a/gtsam/nonlinear/tests/testCallRecord.cpp b/gtsam/nonlinear/tests/testCallRecord.cpp
index 66c56e696..5d0d5d5f2 100644
--- a/gtsam/nonlinear/tests/testCallRecord.cpp
+++ b/gtsam/nonlinear/tests/testCallRecord.cpp
@@ -77,7 +77,7 @@ template<> struct traits<CallConfig> : public Testable<CallConfig> {};
 
 struct Record: public internal::CallRecordImplementor<Record, Cols> {
   Record() : cc(0, 0) {}
-  virtual ~Record() {
+  ~Record() override {
   }
   void print(const std::string& indent) const {
   }
diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h
index 482dbb974..da352f2e9 100644
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@@ -59,7 +59,7 @@ class BearingRangeFactor
     this->initialize(expression({{key1, key2}}));
   }
 
-  virtual ~BearingRangeFactor() {}
+  ~BearingRangeFactor() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h
index d9890d2ef..2db659947 100644
--- a/gtsam/sam/RangeFactor.h
+++ b/gtsam/sam/RangeFactor.h
@@ -118,7 +118,7 @@ class RangeFactorWithTransform : public ExpressionFactorN<T, A1, A2> {
     this->initialize(expression({key1, key2}));
   }
 
-  virtual ~RangeFactorWithTransform() {}
+  ~RangeFactorWithTransform() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/sfm/ShonanGaugeFactor.h b/gtsam/sfm/ShonanGaugeFactor.h
index 4847c5d58..d6240b1c4 100644
--- a/gtsam/sfm/ShonanGaugeFactor.h
+++ b/gtsam/sfm/ShonanGaugeFactor.h
@@ -90,7 +90,7 @@ public:
   }
 
   /// Destructor
-  virtual ~ShonanGaugeFactor() {}
+  ~ShonanGaugeFactor() override {}
 
   /// Calculate the error of the factor: always zero
   double error(const Values &c) const override { return 0; }
diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h
index 277080b6b..3b559fe79 100644
--- a/gtsam/slam/AntiFactor.h
+++ b/gtsam/slam/AntiFactor.h
@@ -49,7 +49,7 @@ namespace gtsam {
     /** constructor - Creates the equivalent AntiFactor from an existing factor */
     AntiFactor(NonlinearFactor::shared_ptr factor) : Base(factor->keys()), factor_(factor) {}
 
-    virtual ~AntiFactor() {}
+    ~AntiFactor() override {}
 
     /// @return a deep copy of this factor
     gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index a594e95d5..aef41d5fd 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -68,7 +68,7 @@ namespace gtsam {
       Base(model, key1, key2), measured_(measured) {
     }
 
-    virtual ~BetweenFactor() {}
+    ~BetweenFactor() override {}
 
     /// @return a deep copy of this factor
     gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h
index 43cc6d292..3d5842fa2 100644
--- a/gtsam/slam/BoundingConstraint.h
+++ b/gtsam/slam/BoundingConstraint.h
@@ -44,7 +44,7 @@ struct BoundingConstraint1: public NoiseModelFactor1<VALUE> {
         threshold_(threshold), isGreaterThan_(isGreaterThan) {
   }
 
-  virtual ~BoundingConstraint1() {}
+  ~BoundingConstraint1() override {}
 
   inline double threshold() const { return threshold_; }
   inline bool isGreaterThan() const { return isGreaterThan_; }
@@ -112,7 +112,7 @@ struct BoundingConstraint2: public NoiseModelFactor2<VALUE1, VALUE2> {
   : Base(noiseModel::Constrained::All(1, mu), key1, key2),
     threshold_(threshold), isGreaterThan_(isGreaterThan) {}
 
-  virtual ~BoundingConstraint2() {}
+  ~BoundingConstraint2() override {}
 
   inline double threshold() const { return threshold_; }
   inline bool isGreaterThan() const { return isGreaterThan_; }
diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h
index d21ead31f..6274be963 100644
--- a/gtsam/slam/EssentialMatrixConstraint.h
+++ b/gtsam/slam/EssentialMatrixConstraint.h
@@ -57,7 +57,7 @@ public:
       Base(model, key1, key2), measuredE_(measuredE) {
   }
 
-  virtual ~EssentialMatrixConstraint() {
+  ~EssentialMatrixConstraint() override {
   }
 
   /// @return a deep copy of this factor
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index c9639d4d5..2e4543177 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -96,7 +96,7 @@ public:
   ///< constructor that takes doubles x,y to make a Point2
   GeneralSFMFactor(double x, double y) : measured_(x, y) {}
 
-  virtual ~GeneralSFMFactor() {} ///< destructor
+  ~GeneralSFMFactor() override {} ///< destructor
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
@@ -230,7 +230,7 @@ public:
   Base(model, poseKey, landmarkKey, calibKey), measured_(measured) {}
   GeneralSFMFactor2():measured_(0.0,0.0) {} ///< default constructor
 
-  virtual ~GeneralSFMFactor2() {} ///< destructor
+  ~GeneralSFMFactor2() override {} ///< destructor
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/slam/KarcherMeanFactor.h b/gtsam/slam/KarcherMeanFactor.h
index b7cd3b11a..964cd598f 100644
--- a/gtsam/slam/KarcherMeanFactor.h
+++ b/gtsam/slam/KarcherMeanFactor.h
@@ -63,7 +63,7 @@ public:
                     boost::optional<double> beta = boost::none);
 
   /// Destructor
-  virtual ~KarcherMeanFactor() {}
+  ~KarcherMeanFactor() override {}
 
   /// Calculate the error of the factor: always zero
   double error(const Values &c) const override { return 0; }
diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h
index e83464b1e..53c08511d 100644
--- a/gtsam/slam/OrientedPlane3Factor.h
+++ b/gtsam/slam/OrientedPlane3Factor.h
@@ -30,7 +30,7 @@ public:
   /// Constructor
   OrientedPlane3Factor() {
   }
-  virtual ~OrientedPlane3Factor() {}
+  ~OrientedPlane3Factor() override {}
 
   /// Constructor with measured plane coefficients (a,b,c,d), noise model, pose symbol
   OrientedPlane3Factor(const Vector&z, const SharedGaussian& noiseModel,
diff --git a/gtsam/slam/PoseRotationPrior.h b/gtsam/slam/PoseRotationPrior.h
index 7e8bdaa46..ba4d12a25 100644
--- a/gtsam/slam/PoseRotationPrior.h
+++ b/gtsam/slam/PoseRotationPrior.h
@@ -47,7 +47,7 @@ public:
   PoseRotationPrior(Key key, const POSE& pose_z, const SharedNoiseModel& model)
   : Base(model, key), measured_(pose_z.rotation()) {}
 
-  virtual ~PoseRotationPrior() {}
+  ~PoseRotationPrior() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/slam/PoseTranslationPrior.h b/gtsam/slam/PoseTranslationPrior.h
index 0c029c501..5bb3745e9 100644
--- a/gtsam/slam/PoseTranslationPrior.h
+++ b/gtsam/slam/PoseTranslationPrior.h
@@ -49,7 +49,7 @@ public:
   : Base(model, key), measured_(pose_z.translation()) {
   }
 
-  virtual ~PoseTranslationPrior() {}
+  ~PoseTranslationPrior() override {}
 
   const Translation& measured() const { return measured_; }
 
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 266037469..67100a0ac 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -97,7 +97,7 @@ namespace gtsam {
           throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
 
     /** Virtual destructor */
-    virtual ~GenericProjectionFactor() {}
+    ~GenericProjectionFactor() override {}
 
     /// @return a deep copy of this factor
     gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/slam/ReferenceFrameFactor.h b/gtsam/slam/ReferenceFrameFactor.h
index e41b5f908..40c8e29b7 100644
--- a/gtsam/slam/ReferenceFrameFactor.h
+++ b/gtsam/slam/ReferenceFrameFactor.h
@@ -87,7 +87,7 @@ public:
   : Base(noiseModel::Isotropic::Sigma(traits<POINT>::dimension, sigma),
       globalKey, transKey, localKey) {}
 
-  virtual ~ReferenceFrameFactor(){}
+  ~ReferenceFrameFactor() override{}
 
   NonlinearFactor::shared_ptr clone() const override {
     return boost::static_pointer_cast<NonlinearFactor>(
diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h
index 71474a8ab..2ed6aa491 100644
--- a/gtsam/slam/RegularImplicitSchurFactor.h
+++ b/gtsam/slam/RegularImplicitSchurFactor.h
@@ -59,7 +59,7 @@ public:
   }
 
   /// Destructor
-  virtual ~RegularImplicitSchurFactor() {
+  ~RegularImplicitSchurFactor() override {
   }
 
   std::vector<MatrixZD, Eigen::aligned_allocator<MatrixZD> >& FBlocks() const {
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index 85f9e7c3f..0b0308c5c 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -112,7 +112,7 @@ protected:
   }
 
   /// Virtual destructor, subclasses from NonlinearFactor
-  virtual ~SmartFactorBase() {
+  ~SmartFactorBase() override {
   }
 
   /**
diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index bc01f5d85..475a9e829 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -90,7 +90,7 @@ public:
         result_(TriangulationResult::Degenerate()) {}
 
   /** Virtual destructor */
-  virtual ~SmartProjectionFactor() {
+  ~SmartProjectionFactor() override {
   }
 
   /**
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index cccdf20d6..c7b1d5424 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -94,7 +94,7 @@ public:
   }
 
   /** Virtual destructor */
-  virtual ~SmartProjectionPoseFactor() {
+  ~SmartProjectionPoseFactor() override {
   }
 
   /**
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 6556723bd..de084c762 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -88,7 +88,7 @@ public:
     throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
 
   /** Virtual destructor */
-  virtual ~GenericStereoFactor() {}
+  ~GenericStereoFactor() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h
index 9d02ad321..f12053d29 100644
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@@ -86,7 +86,7 @@ public:
   }
 
   /** Virtual destructor */
-  virtual ~TriangulationFactor() {
+  ~TriangulationFactor() override {
   }
 
   /// @return a deep copy of this factor
diff --git a/gtsam/symbolic/SymbolicConditional.h b/gtsam/symbolic/SymbolicConditional.h
index 9163cdba6..ead72a989 100644
--- a/gtsam/symbolic/SymbolicConditional.h
+++ b/gtsam/symbolic/SymbolicConditional.h
@@ -95,7 +95,7 @@ namespace gtsam {
       return FromIteratorsShared(keys.begin(), keys.end(), nrFrontals);
     }
 
-    virtual ~SymbolicConditional() {}
+    ~SymbolicConditional() override {}
 
     /// Copy this object as its actual derived type.
     SymbolicFactor::shared_ptr clone() const { return boost::make_shared<This>(*this); }
diff --git a/gtsam_unstable/discrete/Constraint.h b/gtsam_unstable/discrete/Constraint.h
index 136704c2d..c3a26de68 100644
--- a/gtsam_unstable/discrete/Constraint.h
+++ b/gtsam_unstable/discrete/Constraint.h
@@ -67,7 +67,7 @@ namespace gtsam {
     Constraint();
 
     /// Virtual destructor
-    virtual ~Constraint() {}
+    ~Constraint() override {}
 
     /// @}
     /// @name Standard Interface
diff --git a/gtsam_unstable/dynamics/FullIMUFactor.h b/gtsam_unstable/dynamics/FullIMUFactor.h
index c8c351d7a..531d54af1 100644
--- a/gtsam_unstable/dynamics/FullIMUFactor.h
+++ b/gtsam_unstable/dynamics/FullIMUFactor.h
@@ -48,7 +48,7 @@ public:
     assert(model->dim() == 9);
   }
 
-  virtual ~FullIMUFactor() {}
+  ~FullIMUFactor() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/dynamics/IMUFactor.h b/gtsam_unstable/dynamics/IMUFactor.h
index fb864a78d..62a6abcd9 100644
--- a/gtsam_unstable/dynamics/IMUFactor.h
+++ b/gtsam_unstable/dynamics/IMUFactor.h
@@ -41,7 +41,7 @@ public:
       double dt, const Key& key1, const Key& key2, const SharedNoiseModel& model)
   : Base(model, key1, key2), accel_(imu_vector.head(3)), gyro_(imu_vector.tail(3)), dt_(dt) {}
 
-  virtual ~IMUFactor() {}
+  ~IMUFactor() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/dynamics/SimpleHelicopter.h b/gtsam_unstable/dynamics/SimpleHelicopter.h
index 42ef04f84..976f448c5 100644
--- a/gtsam_unstable/dynamics/SimpleHelicopter.h
+++ b/gtsam_unstable/dynamics/SimpleHelicopter.h
@@ -33,7 +33,7 @@ public:
     Base(noiseModel::Constrained::All(6, std::abs(mu)), gKey1, gKey,
         xiKey), h_(h) {
   }
-  virtual ~Reconstruction() {}
+  ~Reconstruction() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
@@ -95,7 +95,7 @@ public:
         Base(noiseModel::Constrained::All(6, std::abs(mu)), xiKey1, xiKey_1, gKey),
         h_(h), Inertia_(Inertia), Fu_(Fu), m_(m) {
   }
-  virtual ~DiscreteEulerPoincareHelicopter() {}
+  ~DiscreteEulerPoincareHelicopter() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/dynamics/VelocityConstraint.h b/gtsam_unstable/dynamics/VelocityConstraint.h
index 986d8e271..56171a728 100644
--- a/gtsam_unstable/dynamics/VelocityConstraint.h
+++ b/gtsam_unstable/dynamics/VelocityConstraint.h
@@ -70,7 +70,7 @@ public:
   VelocityConstraint(Key key1, Key key2, double dt, const gtsam::SharedNoiseModel& model)
   : Base(model, key1, key2), dt_(dt), integration_mode_(dynamics::TRAPEZOIDAL) {}
 
-  virtual ~VelocityConstraint() {}
+  ~VelocityConstraint() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/dynamics/VelocityConstraint3.h b/gtsam_unstable/dynamics/VelocityConstraint3.h
index f6cd8ccc4..c9f05cf98 100644
--- a/gtsam_unstable/dynamics/VelocityConstraint3.h
+++ b/gtsam_unstable/dynamics/VelocityConstraint3.h
@@ -28,7 +28,7 @@ public:
   ///TODO: comment
   VelocityConstraint3(Key key1, Key key2, Key velKey, double dt, double mu = 1000.0)
   : Base(noiseModel::Constrained::All(1, std::abs(mu)), key1, key2, velKey), dt_(dt) {}
-  virtual ~VelocityConstraint3() {}
+  ~VelocityConstraint3() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/linear/InfeasibleInitialValues.h b/gtsam_unstable/linear/InfeasibleInitialValues.h
index 6f589d0c3..dbd1b3940 100644
--- a/gtsam_unstable/linear/InfeasibleInitialValues.h
+++ b/gtsam_unstable/linear/InfeasibleInitialValues.h
@@ -29,7 +29,7 @@ public:
   InfeasibleInitialValues() {
   }
 
-  virtual ~InfeasibleInitialValues() noexcept {
+  ~InfeasibleInitialValues() noexcept override {
   }
 
   const char *what() const noexcept override {
diff --git a/gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h b/gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h
index 25742d61f..5f9b9f5b3 100644
--- a/gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h
+++ b/gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h
@@ -25,7 +25,7 @@ class InfeasibleOrUnboundedProblem: public ThreadsafeException<
 public:
   InfeasibleOrUnboundedProblem() {
   }
-  virtual ~InfeasibleOrUnboundedProblem() noexcept {
+  ~InfeasibleOrUnboundedProblem() noexcept override {
   }
 
   const char* what() const noexcept override {
diff --git a/gtsam_unstable/linear/LinearCost.h b/gtsam_unstable/linear/LinearCost.h
index c22c389be..9ac7e16af 100644
--- a/gtsam_unstable/linear/LinearCost.h
+++ b/gtsam_unstable/linear/LinearCost.h
@@ -84,7 +84,7 @@ public:
   }
 
   /** Virtual destructor */
-  virtual ~LinearCost() {
+  ~LinearCost() override {
   }
 
   /** equals */
diff --git a/gtsam_unstable/linear/LinearEquality.h b/gtsam_unstable/linear/LinearEquality.h
index d960d8336..d2c8586f2 100644
--- a/gtsam_unstable/linear/LinearEquality.h
+++ b/gtsam_unstable/linear/LinearEquality.h
@@ -85,7 +85,7 @@ public:
   }
 
   /** Virtual destructor */
-  virtual ~LinearEquality() {
+  ~LinearEquality() override {
   }
 
   /** equals */
diff --git a/gtsam_unstable/linear/LinearInequality.h b/gtsam_unstable/linear/LinearInequality.h
index d353afc46..dbb9004ea 100644
--- a/gtsam_unstable/linear/LinearInequality.h
+++ b/gtsam_unstable/linear/LinearInequality.h
@@ -96,7 +96,7 @@ public:
   }
 
   /** Virtual destructor */
-  virtual ~LinearInequality() {
+  ~LinearInequality() override {
   }
 
   /** equals */
diff --git a/gtsam_unstable/linear/QPSParserException.h b/gtsam_unstable/linear/QPSParserException.h
index ef14ed430..aaa74ad56 100644
--- a/gtsam_unstable/linear/QPSParserException.h
+++ b/gtsam_unstable/linear/QPSParserException.h
@@ -25,7 +25,7 @@ public:
   QPSParserException() {
   }
 
-  virtual ~QPSParserException() noexcept {
+  ~QPSParserException() noexcept override {
   }
 
   const char *what() const noexcept override {
diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h
index b4645e4ed..94cf130cf 100644
--- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h
+++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h
@@ -38,7 +38,7 @@ public:
     FixedLagSmoother(smootherLag), parameters_(parameters), enforceConsistency_(enforceConsistency) { };
 
   /** destructor */
-  virtual ~BatchFixedLagSmoother() { };
+  ~BatchFixedLagSmoother() override { };
 
   /** Print the factor for debugging and testing (implementing Testable) */
   void print(const std::string& s = "BatchFixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
index c99c67492..7e35476b9 100644
--- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
+++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
@@ -64,7 +64,7 @@ public:
   ConcurrentBatchFilter(const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) : parameters_(parameters) {};
 
   /** Default destructor */
-  virtual ~ConcurrentBatchFilter() {};
+  ~ConcurrentBatchFilter() override {};
 
   /** Implement a GTSAM standard 'print' function */
   void print(const std::string& s = "Concurrent Batch Filter:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
@@ -130,7 +130,7 @@ public:
    * Perform any required operations before the synchronization process starts.
    * Called by 'synchronize'
    */
-  virtual void presync() override;
+  void presync() override;
 
   /**
    * Populate the provided containers with factors that constitute the filter branch summarization
@@ -162,7 +162,7 @@ public:
    * Perform any required operations after the synchronization process finishes.
    * Called by 'synchronize'
    */
-  virtual void postsync() override;
+  void postsync() override;
 
 protected:
 
diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h
index 364d02caf..51d3284a4 100644
--- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h
+++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h
@@ -57,7 +57,7 @@ public:
   ConcurrentBatchSmoother(const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) : parameters_(parameters) {};
 
   /** Default destructor */
-  virtual ~ConcurrentBatchSmoother() {};
+  ~ConcurrentBatchSmoother() override {};
 
   /** Implement a GTSAM standard 'print' function */
   void print(const std::string& s = "Concurrent Batch Smoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
@@ -124,7 +124,7 @@ public:
    * Perform any required operations before the synchronization process starts.
    * Called by 'synchronize'
    */
-  virtual void presync() override;
+  void presync() override;
 
   /**
    * Populate the provided containers with factors that constitute the smoother branch summarization
@@ -150,7 +150,7 @@ public:
    * Perform any required operations after the synchronization process finishes.
    * Called by 'synchronize'
    */
-  virtual void postsync() override;
+  void postsync() override;
 
 protected:
 
diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h
index d0525a4da..eb1174749 100644
--- a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h
+++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h
@@ -64,7 +64,7 @@ public:
   ConcurrentIncrementalFilter(const ISAM2Params& parameters = ISAM2Params()) : isam2_(parameters) {};
 
   /** Default destructor */
-  virtual ~ConcurrentIncrementalFilter() {};
+  ~ConcurrentIncrementalFilter() override {};
 
   /** Implement a GTSAM standard 'print' function */
   void print(const std::string& s = "Concurrent Incremental Filter:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h
index 8848b6a43..a27751561 100644
--- a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h
+++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h
@@ -54,7 +54,7 @@ public:
   ConcurrentIncrementalSmoother(const ISAM2Params& parameters = ISAM2Params()) : isam2_(parameters) {};
 
   /** Default destructor */
-  virtual ~ConcurrentIncrementalSmoother() {};
+  ~ConcurrentIncrementalSmoother() override {};
 
   /** Implement a GTSAM standard 'print' function */
   void print(const std::string& s = "Concurrent Incremental Smoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
diff --git a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
index 3cf6c16d3..79c05a01a 100644
--- a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
+++ b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
@@ -44,15 +44,15 @@ public:
   }
 
   /** destructor */
-  virtual ~IncrementalFixedLagSmoother() {
+  ~IncrementalFixedLagSmoother() override {
   }
 
   /** Print the factor for debugging and testing (implementing Testable) */
-  virtual void print(const std::string& s = "IncrementalFixedLagSmoother:\n",
+  void print(const std::string& s = "IncrementalFixedLagSmoother:\n",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
 
   /** Check if two IncrementalFixedLagSmoother Objects are equal */
-  virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const override;
+  bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const override;
 
   /**
    * Add new factors, updating the solution and re-linearizing as needed.
diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h
index caf67de21..1ae8a7906 100644
--- a/gtsam_unstable/nonlinear/LinearizedFactor.h
+++ b/gtsam_unstable/nonlinear/LinearizedFactor.h
@@ -53,7 +53,7 @@ public:
    */
   LinearizedGaussianFactor(const GaussianFactor::shared_ptr& gaussian, const Values& lin_points);
 
-  virtual ~LinearizedGaussianFactor() {};
+  ~LinearizedGaussianFactor() override {};
 
   // access functions
   const Values& linearizationPoint() const { return lin_points_; }
@@ -109,7 +109,7 @@ public:
    */
   LinearizedJacobianFactor(const JacobianFactor::shared_ptr& jacobian, const Values& lin_points);
 
-  virtual ~LinearizedJacobianFactor() {}
+  ~LinearizedJacobianFactor() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
@@ -199,7 +199,7 @@ public:
    */
   LinearizedHessianFactor(const HessianFactor::shared_ptr& hessian, const Values& lin_points);
 
-  virtual ~LinearizedHessianFactor() {}
+  ~LinearizedHessianFactor() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h
index 43607ac41..98ec59fe9 100644
--- a/gtsam_unstable/slam/BetweenFactorEM.h
+++ b/gtsam_unstable/slam/BetweenFactorEM.h
@@ -78,7 +78,7 @@ public:
           flag_bump_up_near_zero_probs) {
   }
 
-  virtual ~BetweenFactorEM() {
+  ~BetweenFactorEM() override {
   }
 
   /** implement functions needed for Testable */
diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h
index c8bbdd78a..f2e9d3fa8 100644
--- a/gtsam_unstable/slam/BiasedGPSFactor.h
+++ b/gtsam_unstable/slam/BiasedGPSFactor.h
@@ -50,7 +50,7 @@ namespace gtsam {
       Base(model, posekey, biaskey), measured_(measured) {
     }
 
-    virtual ~BiasedGPSFactor() {}
+    ~BiasedGPSFactor() override {}
 
     /** implement functions needed for Testable */
 
diff --git a/gtsam_unstable/slam/DummyFactor.h b/gtsam_unstable/slam/DummyFactor.h
index 08b1c800a..0484fc4c3 100644
--- a/gtsam_unstable/slam/DummyFactor.h
+++ b/gtsam_unstable/slam/DummyFactor.h
@@ -29,7 +29,7 @@ public:
   /** standard binary constructor */
   DummyFactor(const Key& key1, size_t dim1, const Key& key2, size_t dim2);
 
-  virtual ~DummyFactor() {}
+  ~DummyFactor() override {}
 
   // testable
 
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
index 745605325..165135114 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
@@ -128,7 +128,7 @@ public:
         dt12_(dt12), world_g_(world_g), world_rho_(world_rho), world_omega_earth_(world_omega_earth), Jacobian_wrt_t0_Overall_(Jacobian_wrt_t0_Overall),
         Bias_initial_(Bias_initial), body_P_sensor_(body_P_sensor) {  }
 
-  virtual ~EquivInertialNavFactor_GlobalVel() {}
+  ~EquivInertialNavFactor_GlobalVel() override {}
 
   /** implement functions needed for Testable */
 
diff --git a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
index f6de48625..52e4f44cb 100644
--- a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
+++ b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
@@ -66,7 +66,7 @@ public:
         Base(calcDiscreteNoiseModel(model, delta_t), key1, key2), dt_(delta_t), tau_(tau) {
   }
 
-  virtual ~GaussMarkov1stOrderFactor() {}
+  ~GaussMarkov1stOrderFactor() override {}
 
   /** implement functions needed for Testable */
 
diff --git a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
index e5a3e9118..f031f4884 100644
--- a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
+++ b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
@@ -109,7 +109,7 @@ public:
             Pose1, Vel1, IMUBias1, Pose2, Vel2), measurement_acc_(measurement_acc), measurement_gyro_(measurement_gyro),
             dt_(measurement_dt), world_g_(world_g), world_rho_(world_rho), world_omega_earth_(world_omega_earth), body_P_sensor_(body_P_sensor) {  }
 
-  virtual ~InertialNavFactor_GlobalVelocity() {}
+  ~InertialNavFactor_GlobalVelocity() override {}
 
   /** implement functions needed for Testable */
 
diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h
index 50b0c5980..3fd86f271 100644
--- a/gtsam_unstable/slam/InvDepthFactor3.h
+++ b/gtsam_unstable/slam/InvDepthFactor3.h
@@ -62,7 +62,7 @@ public:
         Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {}
 
   /** Virtual destructor */
-  virtual ~InvDepthFactor3() {}
+  ~InvDepthFactor3() override {}
 
   /**
    * print
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant1.h b/gtsam_unstable/slam/InvDepthFactorVariant1.h
index 785556750..7a34ab1bc 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant1.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant1.h
@@ -58,7 +58,7 @@ public:
         Base(model, poseKey, landmarkKey), measured_(measured), K_(K) {}
 
   /** Virtual destructor */
-  virtual ~InvDepthFactorVariant1() {}
+  ~InvDepthFactorVariant1() override {}
 
   /**
    * print
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant2.h b/gtsam_unstable/slam/InvDepthFactorVariant2.h
index 97ceb8a8b..0462aefad 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant2.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant2.h
@@ -61,7 +61,7 @@ public:
         Base(model, poseKey, landmarkKey), measured_(measured), K_(K), referencePoint_(referencePoint) {}
 
   /** Virtual destructor */
-  virtual ~InvDepthFactorVariant2() {}
+  ~InvDepthFactorVariant2() override {}
 
   /**
    * print
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant3.h b/gtsam_unstable/slam/InvDepthFactorVariant3.h
index 21c7aa6de..454358a0e 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant3.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant3.h
@@ -60,7 +60,7 @@ public:
         Base(model, poseKey, landmarkKey), measured_(measured), K_(K) {}
 
   /** Virtual destructor */
-  virtual ~InvDepthFactorVariant3a() {}
+  ~InvDepthFactorVariant3a() override {}
 
   /**
    * print
@@ -180,7 +180,7 @@ public:
         Base(model, poseKey1, poseKey2, landmarkKey), measured_(measured), K_(K) {}
 
   /** Virtual destructor */
-  virtual ~InvDepthFactorVariant3b() {}
+  ~InvDepthFactorVariant3b() override {}
 
   /**
    * print
diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h
index b6bf2a9c7..afc9e0b18 100644
--- a/gtsam_unstable/slam/MultiProjectionFactor.h
+++ b/gtsam_unstable/slam/MultiProjectionFactor.h
@@ -98,7 +98,7 @@ namespace gtsam {
           throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
 
     /** Virtual destructor */
-    virtual ~MultiProjectionFactor() {}
+    ~MultiProjectionFactor() override {}
 
     /// @return a deep copy of this factor
     NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/slam/PartialPriorFactor.h b/gtsam_unstable/slam/PartialPriorFactor.h
index d284366e8..c1984992b 100644
--- a/gtsam_unstable/slam/PartialPriorFactor.h
+++ b/gtsam_unstable/slam/PartialPriorFactor.h
@@ -66,7 +66,7 @@ namespace gtsam {
 
   public:
 
-    virtual ~PartialPriorFactor() {}
+    ~PartialPriorFactor() override {}
 
     /** Single Element Constructor: acts on a single parameter specified by idx */
     PartialPriorFactor(Key key, size_t idx, double prior, const SharedNoiseModel& model) :
diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h
index e20792e25..a6c583418 100644
--- a/gtsam_unstable/slam/PoseBetweenFactor.h
+++ b/gtsam_unstable/slam/PoseBetweenFactor.h
@@ -56,7 +56,7 @@ namespace gtsam {
       Base(model, key1, key2), measured_(measured), body_P_sensor_(body_P_sensor) {
     }
 
-    virtual ~PoseBetweenFactor() {}
+    ~PoseBetweenFactor() override {}
 
     /// @return a deep copy of this factor
     gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h
index c9965f9bf..f657fc443 100644
--- a/gtsam_unstable/slam/PosePriorFactor.h
+++ b/gtsam_unstable/slam/PosePriorFactor.h
@@ -47,7 +47,7 @@ namespace gtsam {
     /** default constructor - only use for serialization */
     PosePriorFactor() {}
 
-    virtual ~PosePriorFactor() {}
+    ~PosePriorFactor() override {}
 
     /** Constructor */
     PosePriorFactor(Key key, const POSE& prior, const SharedNoiseModel& model,
diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h
index caa388e2f..84adda707 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPP.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPP.h
@@ -93,7 +93,7 @@ namespace gtsam {
           throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
 
     /** Virtual destructor */
-    virtual ~ProjectionFactorPPP() {}
+    ~ProjectionFactorPPP() override {}
 
     /// @return a deep copy of this factor
     NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h
index af3294bce..fbc11503c 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPPC.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@@ -88,7 +88,7 @@ namespace gtsam {
           throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
 
     /** Virtual destructor */
-    virtual ~ProjectionFactorPPPC() {}
+    ~ProjectionFactorPPPC() override {}
 
     /// @return a deep copy of this factor
     NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/slam/RelativeElevationFactor.h b/gtsam_unstable/slam/RelativeElevationFactor.h
index b713d45dc..ebf91d1f7 100644
--- a/gtsam_unstable/slam/RelativeElevationFactor.h
+++ b/gtsam_unstable/slam/RelativeElevationFactor.h
@@ -40,7 +40,7 @@ public:
   RelativeElevationFactor(Key poseKey, Key pointKey, double measured,
       const SharedNoiseModel& model);
 
-  virtual ~RelativeElevationFactor() {}
+  ~RelativeElevationFactor() override {}
 
   /// @return a deep copy of this factor
   gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h
index 6bab3f334..14e97f6bc 100644
--- a/gtsam_unstable/slam/SmartRangeFactor.h
+++ b/gtsam_unstable/slam/SmartRangeFactor.h
@@ -54,7 +54,7 @@ class SmartRangeFactor: public NoiseModelFactor {
       NoiseModelFactor(noiseModel::Isotropic::Sigma(1, s)), variance_(s * s) {
   }
 
-  virtual ~SmartRangeFactor() {
+  ~SmartRangeFactor() override {
   }
 
   /// Add a range measurement to a pose with given key.
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index ac063eff9..5010de8fd 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -93,7 +93,7 @@ public:
   }
 
   /** Virtual destructor */
-  virtual ~SmartStereoProjectionFactor() {
+  ~SmartStereoProjectionFactor() override {
   }
 
   /**
diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
index 926a49de7..2a8180ac5 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@@ -71,7 +71,7 @@ class SmartStereoProjectionPoseFactor : public SmartStereoProjectionFactor {
       const boost::optional<Pose3>& body_P_sensor = boost::none);
 
   /** Virtual destructor */
-  virtual ~SmartStereoProjectionPoseFactor() = default;
+  ~SmartStereoProjectionPoseFactor() override = default;
 
   /**
    * add a new measurement and pose key
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
index a17e07f9c..956c75999 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
@@ -77,7 +77,7 @@ namespace gtsam {
 
     }
 
-    virtual ~TransformBtwRobotsUnaryFactor() {}
+    ~TransformBtwRobotsUnaryFactor() override {}
 
 
     /** Clone */
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
index 8a56a5d02..2b2edfae9 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
@@ -93,7 +93,7 @@ namespace gtsam {
 
     }
 
-    virtual ~TransformBtwRobotsUnaryFactorEM() {}
+    ~TransformBtwRobotsUnaryFactorEM() override {}
 
 
     /** Clone */
diff --git a/tests/ImuMeasurement.h b/tests/ImuMeasurement.h
index d49759545..c2c7851d1 100644
--- a/tests/ImuMeasurement.h
+++ b/tests/ImuMeasurement.h
@@ -18,7 +18,7 @@ class ImuMeasurement : public Measurement {
   ImuMeasurement()
       : Measurement("ImuMeasurement"), I_a_WI{0, 0, 0}, I_w_WI{0, 0, 0} {}
 
-  virtual ~ImuMeasurement() override {}
+  ~ImuMeasurement() override {}
 
   friend std::ostream& operator<<(std::ostream& stream,
                                   const ImuMeasurement& meas);
diff --git a/tests/simulated2D.h b/tests/simulated2D.h
index ed412bba8..097dbd3fe 100644
--- a/tests/simulated2D.h
+++ b/tests/simulated2D.h
@@ -143,7 +143,7 @@ namespace simulated2D {
       return (prior(x, H) - measured_);
     }
 
-    virtual ~GenericPrior() {}
+    ~GenericPrior() override {}
 
     /// @return a deep copy of this factor
     gtsam::NonlinearFactor::shared_ptr clone() const override {
@@ -189,7 +189,7 @@ namespace simulated2D {
       return (odo(x1, x2, H1, H2) - measured_);
     }
 
-    virtual ~GenericOdometry() {}
+    ~GenericOdometry() override {}
 
     /// @return a deep copy of this factor
     gtsam::NonlinearFactor::shared_ptr clone() const override {
@@ -236,7 +236,7 @@ namespace simulated2D {
       return (mea(x1, x2, H1, H2) - measured_);
     }
 
-    virtual ~GenericMeasurement() {}
+    ~GenericMeasurement() override {}
 
     /// @return a deep copy of this factor
     gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/tests/simulated2DConstraints.h b/tests/simulated2DConstraints.h
index cb8c09fc8..1609876b6 100644
--- a/tests/simulated2DConstraints.h
+++ b/tests/simulated2DConstraints.h
@@ -57,7 +57,7 @@ namespace simulated2D {
       typedef boost::shared_ptr<ScalarCoordConstraint1<VALUE, IDX> > shared_ptr; ///< boost::shared_ptr convenience typedef
       typedef VALUE Point; ///< Constrained variable type
 
-      virtual ~ScalarCoordConstraint1() {}
+      ~ScalarCoordConstraint1() override {}
 
       /// @return a deep copy of this factor
       gtsam::NonlinearFactor::shared_ptr clone() const override {
@@ -125,7 +125,7 @@ namespace simulated2D {
       typedef MaxDistanceConstraint<VALUE> This;  ///< This class for factor
       typedef VALUE Point; ///< Type of variable constrained
 
-      virtual ~MaxDistanceConstraint() {}
+      ~MaxDistanceConstraint() override {}
 
       /// @return a deep copy of this factor
       gtsam::NonlinearFactor::shared_ptr clone() const override {
@@ -174,7 +174,7 @@ namespace simulated2D {
       typedef POSE Pose; ///< Type of pose variable constrained
       typedef POINT Point; ///< Type of point variable constrained
 
-      virtual ~MinDistanceConstraint() {}
+      ~MinDistanceConstraint() override {}
 
       /// @return a deep copy of this factor
       gtsam::NonlinearFactor::shared_ptr clone() const override {
diff --git a/tests/simulated2DOriented.h b/tests/simulated2DOriented.h
index 27932415b..924a5fe4e 100644
--- a/tests/simulated2DOriented.h
+++ b/tests/simulated2DOriented.h
@@ -114,7 +114,7 @@ namespace simulated2DOriented {
           NoiseModelFactor2<VALUE, VALUE>(model, i1, i2), measured_(measured) {
     }
 
-    virtual ~GenericOdometry() {}
+    ~GenericOdometry() override {}
 
     /// Evaluate error and optionally derivative
     Vector evaluateError(const VALUE& x1, const VALUE& x2,
diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp
index 0ea507a36..f0c1b4b70 100644
--- a/tests/testExtendedKalmanFilter.cpp
+++ b/tests/testExtendedKalmanFilter.cpp
@@ -120,7 +120,7 @@ public:
     Q_invsqrt_ = inverse_square_root(Q_);
   }
 
-  virtual ~NonlinearMotionModel() {}
+  ~NonlinearMotionModel() override {}
 
   // Calculate the next state prediction using the nonlinear function f()
   Point2 f(const Point2& x_t0) const {
@@ -255,7 +255,7 @@ public:
     R_invsqrt_ = inverse_square_root(R_);
   }
 
-  virtual ~NonlinearMeasurementModel() {}
+  ~NonlinearMeasurementModel() override {}
 
   // Calculate the predicted measurement using the nonlinear function h()
   // Byproduct: updates Jacobian H, and noiseModel (R)
diff --git a/timing/timeVirtual2.cpp b/timing/timeVirtual2.cpp
index 303468150..8c7c40246 100644
--- a/timing/timeVirtual2.cpp
+++ b/timing/timeVirtual2.cpp
@@ -34,7 +34,7 @@ struct DtorTestBase {
 
 struct DtorTestDerived : public DtorTestBase {
   DtorTestDerived() { cout << "  DtorTestDerived" << endl; }
-  virtual ~DtorTestDerived() { cout << "  ~DtorTestDerived" << endl; }
+  ~DtorTestDerived() override { cout << "  ~DtorTestDerived" << endl; }
 };
 
 
@@ -47,8 +47,8 @@ struct VirtualBase {
 struct VirtualDerived : public VirtualBase {
   double data;
   VirtualDerived() { data = rand(); }
-  virtual void method() { data = rand(); }
-  virtual ~VirtualDerived() { }
+  void method() override { data = rand(); }
+  ~VirtualDerived() override { }
 };
 
 struct NonVirtualBase {