fixing some mr comments. added new lines

doc/Code/LocalizationFactor.cpp

@@ -3,6 +3,7 @@ class UnaryFactor: public NoiseModelFactor1<Pose2> {
   
 public:
   using gtsam::NoiseModelFactor1<Pose2>::evaluateError;
+
   UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model):
     NoiseModelFactor1<Pose2>(model, j), mx_(x), my_(y) {}
 

examples/CameraResectioning.cpp

@@ -46,8 +46,7 @@ public:
   }
 
   /// evaluate the error
-  Vector evaluateError(const Pose3& pose, OptionalMatrixType H =
+  Vector evaluateError(const Pose3& pose, OptionalMatrixType H) const override {
-      OptionalNone) const override {
     PinholeCamera<Cal3_S2> camera(pose, *K_);
     return camera.project(P_, H, OptionalNone, OptionalNone) - p_;
   }

examples/LocalizationExample.cpp

@@ -71,7 +71,9 @@ class UnaryFactor: public NoiseModelFactorN<Pose2> {
   double mx_, my_;
 
  public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Pose2>::evaluateError;
+
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<UnaryFactor> shared_ptr;
 

gtsam/base/OptionalJacobian.h

@@ -92,8 +92,8 @@ public:
   }
 
   /// Constructor that will resize a dynamic matrix (unless already correct)
-  OptionalJacobian(Eigen::MatrixXd* dynamic)
+  OptionalJacobian(Eigen::MatrixXd* dynamic) :
-      : map_(nullptr) {
+      map_(nullptr) {
     if (dynamic) {
       dynamic->resize(Rows, Cols);  // no malloc if correct size
       usurp(dynamic->data());

gtsam/navigation/AHRSFactor.h

@@ -142,6 +142,7 @@ public:
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /** Shorthand for a smart pointer to a factor */
 #if !defined(_MSC_VER) && __GNUC__ == 4 && __GNUC_MINOR__ > 5
   typedef typename boost::shared_ptr<AHRSFactor> shared_ptr;

gtsam/navigation/AttitudeFactor.h

@@ -84,6 +84,7 @@ public:
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<Rot3AttitudeFactor> shared_ptr;
 

gtsam/navigation/BarometricFactor.h

@@ -40,6 +40,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
    public:
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
+
     /// shorthand for a smart pointer to a factor
     typedef boost::shared_ptr<BarometricFactor> shared_ptr;
 

gtsam/navigation/CombinedImuFactor.h

@@ -268,6 +268,7 @@ private:
   PreintegratedCombinedMeasurements _PIM_;
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using Base::evaluateError;
 
   /** Shorthand for a smart pointer to a factor */

gtsam/navigation/GPSFactor.h

@@ -44,6 +44,7 @@ public:
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<GPSFactor> shared_ptr;
 

gtsam/navigation/ImuFactor.h

@@ -270,6 +270,9 @@ private:
 
 public:
 
+  // Provide access to the Matrix& version of evaluateError:
+  using Base::evaluateError;
+
   /** Default constructor - only use for serialization */
   ImuFactor2() {}
 

gtsam/navigation/MagFactor.h

@@ -37,6 +37,7 @@ class MagFactor: public NoiseModelFactorN<Rot2> {
   const Point3 bias_; ///< bias
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Rot2>::evaluateError;
 
   /**
@@ -94,8 +95,10 @@ class MagFactor1: public NoiseModelFactorN<Rot3> {
   const Point3 bias_; ///< bias
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Rot3>::evaluateError;
 
+
   /** Constructor */
   MagFactor1(Key key, const Point3& measured, double scale,
       const Unit3& direction, const Point3& bias,
@@ -131,8 +134,10 @@ class MagFactor2: public NoiseModelFactorN<Point3, Point3> {
   const Rot3 bRn_; ///< The assumed known rotation from nav to body
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor2<Point3, Point3>::evaluateError;
 
+
   /** Constructor */
   MagFactor2(Key key1, Key key2, const Point3& measured, const Rot3& nRb,
       const SharedNoiseModel& model) :
@@ -172,8 +177,10 @@ class MagFactor3: public NoiseModelFactorN<double, Unit3, Point3> {
   const Rot3 bRn_; ///< The assumed known rotation from nav to body
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor3<double, Unit3, Point3>::evaluateError;
 
+
   /** Constructor */
   MagFactor3(Key key1, Key key2, Key key3, const Point3& measured,
       const Rot3& nRb, const SharedNoiseModel& model) :

gtsam/navigation/MagPoseFactor.h

@@ -52,6 +52,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   ~MagPoseFactor() override {}
 
   /// Default constructor - only use for serialization.

gtsam/nonlinear/ExpressionFactor.h

@@ -343,7 +343,8 @@ protected:
   ExpressionFactor2() {}
 
   /// Constructor takes care of keys, but still need to call initialize
-  ExpressionFactor2(Key key1, Key key2, const SharedNoiseModel& noiseModel, const T& measurement)
+  ExpressionFactor2(Key key1, Key key2, const SharedNoiseModel& noiseModel,
+                    const T &measurement)
       : ExpressionFactorN<T, A1, A2>({key1, key2}, noiseModel, measurement) {}
 };
 // ExpressionFactor2

gtsam/nonlinear/FunctorizedFactor.h

@@ -67,6 +67,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /** default constructor - only use for serialization */
   FunctorizedFactor() {}
 
@@ -169,6 +170,7 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /** default constructor - only use for serialization */
   FunctorizedFactor2() {}
 

gtsam/nonlinear/NonlinearEquality.h

@@ -209,6 +209,8 @@ class NonlinearEquality1: public NoiseModelFactorN<VALUE> {
 
 public:
   typedef VALUE X;
+
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<VALUE>::evaluateError;
 
 protected:
@@ -308,6 +310,7 @@ class NonlinearEquality2 : public NoiseModelFactorN<T, T> {
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /**
    * Constructor
    * @param key1 the key for the first unknown variable to be constrained

gtsam/nonlinear/PriorFactor.h

@@ -32,7 +32,8 @@ namespace gtsam {
   public:
     typedef VALUE T;
     // Provide access to the Matrix& version of evaluateError:
-	  using NoiseModelFactor1<VALUE>::evaluateError;
+    using NoiseModelFactor1<VALUE>::evaluateError;
+
 
   private:
 
@@ -113,10 +114,10 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(prior_);
     }
 
-	// Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
+  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
-	enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
+  enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
   public:
-	GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
   };
 
   /// traits

gtsam/sfm/ShonanFactor.h

@@ -42,7 +42,9 @@ class GTSAM_EXPORT ShonanFactor : public NoiseModelFactorN<SOn, SOn> {
   using Rot = typename std::conditional<d == 2, Rot2, Rot3>::type;
 
 public:
+  // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<SOn, SOn>::evaluateError;
+
   /// @name Constructor
   /// @{
 

gtsam/sfm/TranslationFactor.h

@@ -45,7 +45,9 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
   Point3 measured_w_aZb_;
 
  public:
+  // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Point3, Point3>::evaluateError;
+
   /// default constructor
   TranslationFactor() {}
 

gtsam/slam/EssentialMatrixFactor.h

@@ -41,6 +41,7 @@ class EssentialMatrixFactor : public NoiseModelFactorN<EssentialMatrix> {
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /**
    *  Constructor
    *  @param key Essential Matrix variable key
@@ -119,6 +120,7 @@ class EssentialMatrixFactor2
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /**
    *  Constructor
    *  @param key1 Essential Matrix variable key
@@ -240,6 +242,7 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /**
    *  Constructor
    *  @param key1 Essential Matrix variable key
@@ -342,6 +345,7 @@ class EssentialMatrixFactor4
  public:
    // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /**
    *  Constructor
    *  @param keyE Essential Matrix (from camera B to A) variable key

gtsam/slam/FrobeniusFactor.h

@@ -85,6 +85,7 @@ class FrobeniusFactor : public NoiseModelFactorN<Rot, Rot> {
 
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Rot, Rot>::evaluateError;
+
   /// Constructor
   FrobeniusFactor(Key j1, Key j2, const SharedNoiseModel& model = nullptr)
       : NoiseModelFactorN<Rot, Rot>(ConvertNoiseModel(model, Dim), j1,
@@ -113,7 +114,9 @@ class FrobeniusBetweenFactor : public NoiseModelFactorN<Rot, Rot> {
   enum { Dim = Rot::VectorN2::RowsAtCompileTime };
 
  public:
+  // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Rot, Rot>::evaluateError;
+
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /// @name Constructor

gtsam/slam/GeneralSFMFactor.h

@@ -77,7 +77,7 @@ public:
   typedef NoiseModelFactorN<CAMERA, LANDMARK> Base;///< typedef for the base class
 
   // Provide access to the Matrix& version of evaluateError:
-  using Base::evaluateError;//
+  using Base::evaluateError;
 
   // shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<This> shared_ptr;

gtsam/slam/OrientedPlane3Factor.h

@@ -23,6 +23,7 @@ class GTSAM_EXPORT OrientedPlane3Factor: public NoiseModelFactorN<Pose3, Oriente
  public:
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Pose3, OrientedPlane3>::evaluateError;
+
   /// Constructor
   OrientedPlane3Factor() {
   }

gtsam/slam/PoseRotationPrior.h

@@ -25,7 +25,6 @@ public:
   typedef typename POSE::Translation Translation;
   typedef typename POSE::Rotation Rotation;
 
-
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/slam/PoseTranslationPrior.h

@@ -26,7 +26,6 @@ public:
   typedef typename POSE::Translation Translation;
   typedef typename POSE::Rotation Rotation;
   
-
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam/slam/StereoFactor.h

@@ -48,7 +48,6 @@ public:
   typedef boost::shared_ptr<GenericStereoFactor> shared_ptr;  ///< typedef for shared pointer to this object
   typedef POSE CamPose;                                       ///< typedef for Pose Lie Value type
 
-
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 

gtsam_unstable/dynamics/VelocityConstraint3.h

@@ -25,6 +25,7 @@ public:
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   typedef boost::shared_ptr<VelocityConstraint3 > shared_ptr;
 
   ///TODO: comment

gtsam_unstable/geometry/Pose3Upright.cpp

@@ -86,7 +86,7 @@ Pose3Upright Pose3Upright::inverse(OptionalJacobian<4, 4> H1) const {
     return Pose3Upright(T_.inverse(), -z_);
   }
   OptionalJacobian<3, 3>::Jacobian H3x3;
-  // TODO: Could not use reference to a view into H1 and reuse memory
+  // TODO(kartikarcot): Could not use reference to a view into H1 and reuse memory
   // Eigen::Ref<Eigen::Matrix<double, 3, 3>> H3x3 = H1->topLeftCorner(3,3);
   Pose3Upright result(T_.inverse(H3x3), -z_);
   Matrix H1_ = -I_4x4;
@@ -102,7 +102,7 @@ Pose3Upright Pose3Upright::compose(const Pose3Upright& p2,
   if (!H1 && !H2)
     return Pose3Upright(T_.compose(p2.T_), z_ + p2.z_);
 
-  // TODO: Could not use reference to a view into H1 and reuse memory
+  // TODO(kartikarcot): Could not use reference to a view into H1 and reuse memory
   OptionalJacobian<3, 3>::Jacobian H3x3;
   Pose3Upright result(T_.compose(p2.T_, H3x3), z_ + p2.z_);
   if (H1) {
@@ -121,7 +121,7 @@ Pose3Upright Pose3Upright::between(const Pose3Upright& p2,
   if (!H1 && !H2)
     return Pose3Upright(T_.between(p2.T_), p2.z_ - z_);
 
-  // TODO: Could not use reference to a view into H1 and H2 to reuse memory
+  // TODO(kartikarcot): Could not use reference to a view into H1 and H2 to reuse memory
   OptionalJacobian<3, 3>::Jacobian H3x3_1, H3x3_2;
   Pose3Upright result(T_.between(p2.T_, H3x3_1, H3x3_2), p2.z_ - z_);
   if (H1) {

gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h

@@ -114,6 +114,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   // shorthand for a smart pointer to a factor
   typedef typename boost::shared_ptr<EquivInertialNavFactor_GlobalVel> shared_ptr;
 

gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h

@@ -112,6 +112,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   // shorthand for a smart pointer to a factor
   typedef typename boost::shared_ptr<EquivInertialNavFactor_GlobalVel_NoBias> shared_ptr;
 

gtsam_unstable/slam/GaussMarkov1stOrderFactor.h

@@ -56,6 +56,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   // shorthand for a smart pointer to a factor
   typedef typename boost::shared_ptr<GaussMarkov1stOrderFactor> shared_ptr;
 

gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h

@@ -98,6 +98,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   // shorthand for a smart pointer to a factor
   typedef typename boost::shared_ptr<InertialNavFactor_GlobalVelocity> shared_ptr;
 

gtsam_unstable/slam/InvDepthFactor3.h

@@ -38,6 +38,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef InvDepthFactor3<POSE, LANDMARK, INVDEPTH> This;
 

gtsam_unstable/slam/InvDepthFactorVariant1.h

@@ -38,6 +38,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef InvDepthFactorVariant1 This;
 

gtsam_unstable/slam/InvDepthFactorVariant2.h

@@ -40,6 +40,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef InvDepthFactorVariant2 This;
 

gtsam_unstable/slam/InvDepthFactorVariant3.h

@@ -38,6 +38,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef InvDepthFactorVariant3a This;
 

gtsam_unstable/slam/LocalOrientedPlane3Factor.h

@@ -42,6 +42,7 @@ class GTSAM_UNSTABLE_EXPORT LocalOrientedPlane3Factor
 public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /// Constructor
   LocalOrientedPlane3Factor() {}
 

gtsam_unstable/slam/PoseToPointFactor.h

@@ -31,6 +31,7 @@ class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   // shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<PoseToPointFactor> shared_ptr;
 

gtsam_unstable/slam/ProjectionFactorRollingShutter.h

@@ -64,6 +64,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef ProjectionFactorRollingShutter This;
 

gtsam_unstable/slam/TSAMFactors.h

@@ -69,6 +69,7 @@ private:
 public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /// Constructor
   DeltaFactorBase(Key b1, Key i, Key b2, Key j, const Point2& measured,
       const SharedNoiseModel& model) :

tests/simulated2DOriented.h

@@ -106,7 +106,9 @@ namespace simulated2DOriented {
     Pose2 measured_;   ///< Between measurement for odometry factor
 
     typedef GenericOdometry<VALUE> This;
-	using NoiseModelFactor2<VALUE, VALUE>::evaluateError;
+
+    // Provide access to the Matrix& version of evaluateError:
+	  using NoiseModelFactor2<VALUE, VALUE>::evaluateError;
 
     /**
      * Creates an odometry factor between two poses

tests/smallExample.h

@@ -329,7 +329,9 @@ inline Matrix H(const Point2& v) {
 
 struct UnaryFactor: public gtsam::NoiseModelFactorN<Point2> {
 
+  // Provide access to the Matrix& version of evaluateError:
   using gtsam::NoiseModelFactor1<Point2>::evaluateError;
+
   Point2 z_;
 
   UnaryFactor(const Point2& z, const SharedNoiseModel& model, Key key) :

tests/testExtendedKalmanFilter.cpp

@@ -249,6 +249,7 @@ protected:
 public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   NonlinearMeasurementModel(){}
 
   NonlinearMeasurementModel(const Symbol& TestKey, Vector z) :

tests/testNonlinearFactor.cpp

@@ -337,8 +337,11 @@ class TestFactor1 : public NoiseModelFactor1<double> {
 
  public:
   typedef NoiseModelFactor1<double> Base;
+  // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   TestFactor1() : Base(noiseModel::Diagonal::Sigmas(Vector1(2.0)), L(1)) {}
+  // Provide access to the Matrix& version of evaluateError:
   using Base::NoiseModelFactor1;  // inherit constructors
 
   Vector evaluateError(const double& x1, OptionalMatrixType H1) const override {
@@ -391,7 +394,9 @@ class TestFactor4 : public NoiseModelFactor4<double, double, double, double> {
   typedef NoiseModelFactor4<double, double, double, double> Base;
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   TestFactor4() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4)) {}
+  // Provide access to the Matrix& version of evaluateError:
   using Base::NoiseModelFactor4;  // inherit constructors
 
   Vector
@@ -482,6 +487,7 @@ public:
   typedef NoiseModelFactor5<double, double, double, double, double> Base;
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   TestFactor5() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4), X(5)) {}
 
   Vector
@@ -531,6 +537,7 @@ public:
   typedef NoiseModelFactor6<double, double, double, double, double, double> Base;
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   TestFactor6() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4), X(5), X(6)) {}
 
   Vector
@@ -587,6 +594,7 @@ public:
   typedef NoiseModelFactorN<double, double, double, double> Base;
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   using Type1 = ValueType<1>;  // Test that we can use the ValueType<> template
 
   TestFactorN() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4)) {}