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Fixed warnings that arise from stricter compiler flags

release/4.3a0
Frank Dellaert 2023-02-11 12:32:50 -08:00
parent b71ed8f91d
commit a8eb98acea
64 changed files with 126 additions and 181 deletions
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3
CppUnitLite/Test.h
View File

@ -32,7 +32,7 @@ class Test
public:
Test (const std::string& testName);
Test (const std::string& testName, const std::string& filename, long lineNumber, bool safeCheck);
virtual ~Test() {};
virtual ~Test() {}
virtual void run (TestResult& result) = 0;
@ -63,7 +63,6 @@ protected:
#define TEST(testGroup, testName)\
class testGroup##testName##Test : public Test \
{ public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, true) {} \
virtual ~testGroup##testName##Test () {};\
void run (TestResult& result_) override;} \
testGroup##testName##Instance; \
void testGroup##testName##Test::run (TestResult& result_)

2
CppUnitLite/TestResult.h
View File

@ -27,7 +27,7 @@ class TestResult
{
public:
TestResult ();
virtual ~TestResult() {};
virtual ~TestResult() {}
virtual void testsStarted ();
virtual void addFailure (const Failure& failure);
virtual void testsEnded ();

2
cmake/GtsamBuildTypes.cmake
View File

@ -130,6 +130,8 @@ else()
$<$<CXX_COMPILER_ID:GNU>:-Wreturn-local-addr -Werror=return-local-addr> # Error: return local address
$<$<CXX_COMPILER_ID:Clang>:-Wreturn-stack-address -Werror=return-stack-address> # Error: return local address
$<$<CXX_COMPILER_ID:Clang>:-Wno-misleading-indentation> # Eigen triggers a ton!
$<$<CXX_COMPILER_ID:Clang>:-Wno-weak-template-vtables> # TODO(dellaert): don't know how to resolve
$<$<CXX_COMPILER_ID:Clang>:-Wno-weak-vtables> # TODO(dellaert): don't know how to resolve
-Wreturn-type -Werror=return-type # Error on missing return()
-Wformat -Werror=format-security # Error on wrong printf() arguments
$<$<COMPILE_LANGUAGE:CXX>:${flag_override_}> # Enforce the use of the override keyword

4
gtsam/base/DSFMap.h
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@ -118,8 +118,8 @@ class IndexPair : public std::pair<size_t,size_t> {
public:
inline IndexPair(): std::pair<size_t,size_t>(0,0) {}
inline IndexPair(size_t i, size_t j) : std::pair<size_t,size_t>(i,j) {}
inline size_t i() const { return first; };
inline size_t j() const { return second; };
inline size_t i() const { return first; }
inline size_t j() const { return second; }
};
typedef std::vector<IndexPair> IndexPairVector;

10
gtsam/base/concepts.h
View File

@ -23,11 +23,11 @@
// These do something sensible:
#define BOOST_CONCEPT_USAGE(concept) void check##concept()
// TODO(dellaert): would be nice if it was a single macro...
#define GTSAM_CONCEPT_ASSERT(concept) concept checkConcept [[maybe_unused]];
#define GTSAM_CONCEPT_ASSERT1(concept) concept checkConcept1 [[maybe_unused]];
#define GTSAM_CONCEPT_ASSERT2(concept) concept checkConcept2 [[maybe_unused]];
#define GTSAM_CONCEPT_ASSERT3(concept) concept checkConcept3 [[maybe_unused]];
#define GTSAM_CONCEPT_ASSERT4(concept) concept checkConcept4 [[maybe_unused]];
#define GTSAM_CONCEPT_ASSERT(concept) concept checkConcept [[maybe_unused]]
#define GTSAM_CONCEPT_ASSERT1(concept) concept checkConcept1 [[maybe_unused]]
#define GTSAM_CONCEPT_ASSERT2(concept) concept checkConcept2 [[maybe_unused]]
#define GTSAM_CONCEPT_ASSERT3(concept) concept checkConcept3 [[maybe_unused]]
#define GTSAM_CONCEPT_ASSERT4(concept) concept checkConcept4 [[maybe_unused]]
// This one just ignores concept for now:
#define GTSAM_CONCEPT_REQUIRES(concept, return_type) return_type
#endif

2
gtsam/base/types.cpp
View File

@ -42,7 +42,7 @@ std::string demangle(const char* name) {
// g++ version of demangle
char* demangled = nullptr;
int status = -1; // some arbitrary value to eliminate the compiler warning
demangled = abi::__cxa_demangle(name, nullptr, nullptr, &status),
demangled = abi::__cxa_demangle(name, nullptr, nullptr, &status);
demangled_name = (status == 0) ? std::string(demangled) : std::string(name);

3
gtsam/discrete/DiscreteBayesNet.h
View File

@ -65,9 +65,6 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
DiscreteBayesNet(const FactorGraph<DERIVEDCONDITIONAL>& graph)
: Base(graph) {}
/// Destructor
virtual ~DiscreteBayesNet() {}
/// @}
/// @name Testable

1
gtsam/discrete/DiscreteBayesTree.h
View File

@ -45,7 +45,6 @@ class GTSAM_EXPORT DiscreteBayesTreeClique
typedef std::shared_ptr<This> shared_ptr;
typedef std::weak_ptr<This> weak_ptr;
DiscreteBayesTreeClique() {}
virtual ~DiscreteBayesTreeClique() {}
DiscreteBayesTreeClique(
const std::shared_ptr<DiscreteConditional>& conditional)
: Base(conditional) {}

4
gtsam/discrete/DiscreteFactor.h
View File

@ -59,10 +59,6 @@ public:
template<typename CONTAINER>
DiscreteFactor(const CONTAINER& keys) : Base(keys) {}
/// Virtual destructor
virtual ~DiscreteFactor() {
}
/// @}
/// @name Testable
/// @{

3
gtsam/discrete/DiscreteFactorGraph.h
View File

@ -111,9 +111,6 @@ class GTSAM_EXPORT DiscreteFactorGraph
template <class DERIVEDFACTOR>
DiscreteFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
/// Destructor
virtual ~DiscreteFactorGraph() {}
/// @name Testable
/// @{

3
gtsam/discrete/DiscreteLookupDAG.h
View File

@ -89,9 +89,6 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
/// Create from BayesNet with LookupTables
static DiscreteLookupDAG FromBayesNet(const DiscreteBayesNet& bayesNet);
/// Destructor
virtual ~DiscreteLookupDAG() {}
/// @}
/// @name Testable

4
gtsam/discrete/SignatureParser.cpp
View File

@ -38,7 +38,7 @@ std::optional<Row> static ParseConditional(const std::string& token) {
} catch (...) {
return std::nullopt;
}
return row;
return std::move(row);
}
std::optional<Table> static ParseConditionalTable(
@ -62,7 +62,7 @@ std::optional<Table> static ParseConditionalTable(
}
}
}
return table;
return std::move(table);
}
std::vector<std::string> static Tokenize(const std::string& str) {

3
gtsam/geometry/Cal3Bundler.cpp
View File

@ -113,7 +113,8 @@ Point2 Cal3Bundler::calibrate(const Point2& pi, OptionalJacobian<2, 3> Dcal,
// Set px and py using intrinsic coordinates since that is where radial
// distortion correction is done.
px = pn.x(), py = pn.y();
px = pn.x();
py = pn.y();
iteration++;
} while (iteration < maxIterations);

2
gtsam/geometry/Cal3DS2.cpp
View File

@ -31,7 +31,7 @@ std::ostream& operator<<(std::ostream& os, const Cal3DS2& cal) {
}
/* ************************************************************************* */
void Cal3DS2::print(const std::string& s_) const { Base::print(s_); }
void Cal3DS2::print(const std::string& s) const { Base::print(s); }
/* ************************************************************************* */
bool Cal3DS2::equals(const Cal3DS2& K, double tol) const {

6
gtsam/geometry/Cal3DS2_Base.cpp
View File

@ -40,9 +40,9 @@ std::ostream& operator<<(std::ostream& os, const Cal3DS2_Base& cal) {
}
/* ************************************************************************* */
void Cal3DS2_Base::print(const std::string& s_) const {
gtsam::print((Matrix)K(), s_ + ".K");
gtsam::print(Vector(k()), s_ + ".k");
void Cal3DS2_Base::print(const std::string& s) const {
gtsam::print((Matrix)K(), s + ".K");
gtsam::print(Vector(k()), s + ".k");
}
/* ************************************************************************* */

6
gtsam/geometry/Cal3Fisheye.cpp
View File

@ -162,9 +162,9 @@ std::ostream& operator<<(std::ostream& os, const Cal3Fisheye& cal) {
}
/* ************************************************************************* */
void Cal3Fisheye::print(const std::string& s_) const {
gtsam::print((Matrix)K(), s_ + ".K");
gtsam::print(Vector(k()), s_ + ".k");
void Cal3Fisheye::print(const std::string& s) const {
gtsam::print((Matrix)K(), s + ".K");
gtsam::print(Vector(k()), s + ".k");
}
/* ************************************************************************* */

8
gtsam/geometry/CalibratedCamera.h
View File

@ -308,14 +308,6 @@ public:
PinholeBase(v) {
}
/// @}
/// @name Standard Interface
/// @{
/// destructor
virtual ~CalibratedCamera() {
}
/// @}
/// @name Manifold
/// @{

2
gtsam/geometry/PinholeCamera.h
View File

@ -321,7 +321,7 @@ public:
/// for Nonlinear Triangulation
Vector defaultErrorWhenTriangulatingBehindCamera() const {
return Eigen::Matrix<double,traits<Point2>::dimension,1>::Constant(2.0 * K_.fx());;
return Eigen::Matrix<double,traits<Point2>::dimension,1>::Constant(2.0 * K_.fx());
}
private:

4
gtsam/geometry/PinholePose.h
View File

@ -67,7 +67,7 @@ public:
/// @name Standard Interface
/// @{
virtual ~PinholeBaseK() {
virtual ~PinholeBaseK() override {
}
/// return calibration
@ -425,7 +425,7 @@ public:
/// for Nonlinear Triangulation
Vector defaultErrorWhenTriangulatingBehindCamera() const {
return Eigen::Matrix<double,traits<Point2>::dimension,1>::Constant(2.0 * K_->fx());;
return Eigen::Matrix<double,traits<Point2>::dimension,1>::Constant(2.0 * K_->fx());
}
/// @}

2
gtsam/geometry/StereoCamera.h
View File

@ -172,7 +172,7 @@ public:
/// for Nonlinear Triangulation
Vector defaultErrorWhenTriangulatingBehindCamera() const {
return Eigen::Matrix<double,traits<Measurement>::dimension,1>::Constant(2.0 * K_->fx());;
return Eigen::Matrix<double,traits<Measurement>::dimension,1>::Constant(2.0 * K_->fx());
}
/// @}

2
gtsam/hybrid/HybridBayesTree.h
View File

@ -55,8 +55,6 @@ class GTSAM_EXPORT HybridBayesTreeClique
: Base(conditional) {}
///< Copy constructor
HybridBayesTreeClique(const HybridBayesTreeClique& clique) : Base(clique) {}
virtual ~HybridBayesTreeClique() {}
};
/* ************************************************************************* */

3
gtsam/hybrid/HybridFactor.h
View File

@ -97,9 +97,6 @@ class GTSAM_EXPORT HybridFactor : public Factor {
HybridFactor(const KeyVector &continuousKeys,
const DiscreteKeys &discreteKeys);
/// Virtual destructor
virtual ~HybridFactor() = default;
/// @}
/// @name Testable
/// @{

2
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -287,7 +287,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
auto hf = std::dynamic_pointer_cast<HessianFactor>(factor);
if (!hf) throw std::runtime_error("Expected HessianFactor!");
hf->constantTerm() += 2.0 * pair.first->logNormalizationConstant();
return hf;
return std::move(hf);
};
GaussianMixtureFactor::Factors correctedFactors(eliminationResults,

24
gtsam/hybrid/HybridValues.h
View File

@ -54,13 +54,13 @@ class GTSAM_EXPORT HybridValues {
HybridValues() = default;
/// Construct from DiscreteValues and VectorValues.
HybridValues(const VectorValues& cv, const DiscreteValues& dv)
: continuous_(cv), discrete_(dv){};
HybridValues(const VectorValues &cv, const DiscreteValues &dv)
: continuous_(cv), discrete_(dv){}
/// Construct from all values types.
HybridValues(const VectorValues& cv, const DiscreteValues& dv,
const Values& v)
: continuous_(cv), discrete_(dv), nonlinear_(v){};
: continuous_(cv), discrete_(dv), nonlinear_(v){}
/// @}
/// @name Testable
@ -73,7 +73,7 @@ class GTSAM_EXPORT HybridValues {
continuous_.print(" Continuous",
keyFormatter); // print continuous components
discrete_.print(" Discrete", keyFormatter); // print discrete components
};
}
/// equals required by Testable for unit testing
bool equals(const HybridValues& other, double tol = 1e-9) const {
@ -95,20 +95,20 @@ class GTSAM_EXPORT HybridValues {
const Values& nonlinear() const { return nonlinear_; }
/// Check whether a variable with key \c j exists in VectorValues.
bool existsVector(Key j) { return continuous_.exists(j); };
bool existsVector(Key j) { return continuous_.exists(j); }
/// Check whether a variable with key \c j exists in DiscreteValues.
bool existsDiscrete(Key j) { return (discrete_.find(j) != discrete_.end()); };
bool existsDiscrete(Key j) { return (discrete_.find(j) != discrete_.end()); }
/// Check whether a variable with key \c j exists in values.
bool existsNonlinear(Key j) {
return nonlinear_.exists(j);
};
}
/// Check whether a variable with key \c j exists.
bool exists(Key j) {
return existsVector(j) || existsDiscrete(j) || existsNonlinear(j);
};
}
/** Insert a vector \c value with key \c j. Throws an invalid_argument
* exception if the key \c j is already used.
@ -120,7 +120,7 @@ class GTSAM_EXPORT HybridValues {
* the key \c j is already used.
* @param value The vector to be inserted.
* @param j The index with which the value will be associated. */
void insert(Key j, size_t value) { discrete_[j] = value; };
void insert(Key j, size_t value) { discrete_[j] = value; }
/// insert_or_assign() , similar to Values.h
void insert_or_assign(Key j, const Vector& value) {
@ -166,13 +166,13 @@ class GTSAM_EXPORT HybridValues {
* Read/write access to the vector value with key \c j, throws
* std::out_of_range if \c j does not exist.
*/
Vector& at(Key j) { return continuous_.at(j); };
Vector& at(Key j) { return continuous_.at(j); }
/**
* Read/write access to the discrete value with key \c j, throws
* std::out_of_range if \c j does not exist.
*/
size_t& atDiscrete(Key j) { return discrete_.at(j); };
size_t& atDiscrete(Key j) { return discrete_.at(j); }
/** For all key/value pairs in \c values, replace continuous values with
* corresponding keys in this object with those in \c values. Throws
@ -227,7 +227,7 @@ class GTSAM_EXPORT HybridValues {
ss << this->continuous_.html(keyFormatter);
ss << this->discrete_.html(keyFormatter);
return ss.str();
};
}
/// @}
};

2
gtsam/hybrid/MixtureFactor.h
View File

@ -123,8 +123,6 @@ class MixtureFactor : public HybridFactor {
}
}
~MixtureFactor() = default;
/**
* @brief Compute error of the MixtureFactor as a tree.
*

1
gtsam/inference/LabeledSymbol.cpp
View File

@ -18,6 +18,7 @@
#include <gtsam/inference/LabeledSymbol.h>
#include <iostream>
#include <limits>
namespace gtsam {

2
gtsam/inference/Symbol.h
View File

@ -85,7 +85,7 @@ public:
operator std::string() const;
/// Return string representation of the key
std::string string() const { return std::string(*this); };
std::string string() const { return std::string(*this); }
/** Comparison for use in maps */
bool operator<(const Symbol& comp) const {

1
gtsam/inference/VariableSlots.cpp
View File

@ -18,6 +18,7 @@
#include <gtsam/inference/VariableSlots.h>
#include <iostream>
#include <limits>
using namespace std;

3
gtsam/linear/GaussianBayesNet.h
View File

@ -74,9 +74,6 @@ namespace gtsam {
std::initializer_list<std::shared_ptr<DERIVEDCONDITIONAL> > conditionals)
: Base(conditionals) {}
/// Destructor
virtual ~GaussianBayesNet() = default;
/// @}
/// @name Testable

1
gtsam/linear/GaussianBayesTree.h
View File

@ -41,7 +41,6 @@ namespace gtsam {
typedef std::shared_ptr<This> shared_ptr;
typedef std::weak_ptr<This> weak_ptr;
GaussianBayesTreeClique() {}
virtual ~GaussianBayesTreeClique() {}
GaussianBayesTreeClique(const std::shared_ptr<GaussianConditional>& conditional) : Base(conditional) {}
};

2
gtsam/linear/GaussianFactor.h
View File

@ -51,7 +51,7 @@ namespace gtsam {
GaussianFactor(const CONTAINER& keys) : Base(keys) {}
/** Destructor */
virtual ~GaussianFactor() {}
virtual ~GaussianFactor() override {}
// Implementing Testable interface

4
gtsam/linear/GaussianFactorGraph.cpp
View File

@ -249,7 +249,7 @@ namespace gtsam {
// combine all factors and get upper-triangular part of Hessian
Scatter scatter(*this, ordering);
HessianFactor combined(*this, scatter);
return combined.info().selfadjointView();;
return combined.info().selfadjointView();
}
/* ************************************************************************* */
@ -257,7 +257,7 @@ namespace gtsam {
// combine all factors and get upper-triangular part of Hessian
Scatter scatter(*this);
HessianFactor combined(*this, scatter);
return combined.info().selfadjointView();;
return combined.info().selfadjointView();
}
/* ************************************************************************* */

2
gtsam/linear/GaussianFactorGraph.h
View File

@ -108,7 +108,7 @@ namespace gtsam {
GaussianFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
/** Virtual destructor */
virtual ~GaussianFactorGraph() {}
virtual ~GaussianFactorGraph() override {}
/// @}
/// @name Testable

2
gtsam/linear/HessianFactor.cpp
View File

@ -378,7 +378,7 @@ GaussianFactor::shared_ptr HessianFactor::negate() const {
shared_ptr result = std::make_shared<This>(*this);
// Negate the information matrix of the result
result->info_.negate();
return result;
return std::move(result);
}
/* ************************************************************************* */

2
gtsam/linear/NoiseModel.cpp
View File

@ -63,7 +63,7 @@ std::optional<Vector> checkIfDiagonal(const Matrix& M) {
Vector diagonal(n);
for (j = 0; j < n; j++)
diagonal(j) = M(j, j);
return diagonal;
return std::move(diagonal);
}
}

2
gtsam/linear/NoiseModel.h
View File

@ -668,7 +668,7 @@ namespace gtsam {
public:
/// Default Constructor for serialization
Robust() {};
Robust() {}
/// Constructor
Robust(const RobustModel::shared_ptr robust, const NoiseModel::shared_ptr noise)

2
gtsam/linear/PCGSolver.cpp
View File

@ -48,7 +48,7 @@ void PCGSolverParameters::setPreconditionerParams(const std::shared_ptr<Precondi
}
void PCGSolverParameters::print(const std::string &s) const {
std::cout << s << std::endl;;
std::cout << s << std::endl;
std::ostringstream os;
print(os);
std::cout << os.str() << std::endl;

58
gtsam/linear/VectorValues.cpp
View File

@ -18,7 +18,12 @@
#include <gtsam/linear/VectorValues.h>
using namespace std;
#include <functional>
#include <utility>
// assert_throw needs a semicolon in Release mode.
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wextra-semi-stmt"
namespace gtsam {
@ -27,10 +32,10 @@ namespace gtsam {
{
// Merge using predicate for comparing first of pair
merge(first.begin(), first.end(), second.begin(), second.end(), inserter(values_, values_.end()),
std::bind(&less<Key>::operator(), less<Key>(), std::bind(&KeyValuePair::first, std::placeholders::_1),
std::bind(&std::less<Key>::operator(), std::less<Key>(), std::bind(&KeyValuePair::first, std::placeholders::_1),
std::bind(&KeyValuePair::first, std::placeholders::_2)));
if(size() != first.size() + second.size())
throw invalid_argument("Requested to merge two VectorValues that have one or more variables in common.");
throw std::invalid_argument("Requested to merge two VectorValues that have one or more variables in common.");
}
/* ************************************************************************ */
@ -92,7 +97,7 @@ namespace gtsam {
hint = values_.insert(hint, {key, value});
if (values_.size() > oldSize) {
values_.unsafe_erase(hint);
throw out_of_range(
throw std::out_of_range(
"Requested to update a VectorValues with another VectorValues that "
"contains keys not present in the first.");
} else {
@ -107,7 +112,7 @@ namespace gtsam {
size_t originalSize = size();
values_.insert(values.begin(), values.end());
if (size() != originalSize + values.size())
throw invalid_argument(
throw std::invalid_argument(
"Requested to insert a VectorValues into another VectorValues that "
"already contains one or more of its keys.");
return *this;
@ -122,7 +127,7 @@ namespace gtsam {
}
/* ************************************************************************ */
GTSAM_EXPORT ostream& operator<<(ostream& os, const VectorValues& v) {
GTSAM_EXPORT std::ostream& operator<<(std::ostream& os, const VectorValues& v) {
// Change print depending on whether we are using TBB
#ifdef GTSAM_USE_TBB
map<Key, Vector> sorted;
@ -140,11 +145,11 @@ namespace gtsam {
}
/* ************************************************************************ */
void VectorValues::print(const string& str,
void VectorValues::print(const std::string& str,
const KeyFormatter& formatter) const {
cout << str << ": " << size() << " elements\n";
cout << key_formatter(formatter) << *this;
cout.flush();
std::cout << str << ": " << size() << " elements\n";
std::cout << key_formatter(formatter) << *this;
std::cout.flush();
}
/* ************************************************************************ */
@ -222,15 +227,15 @@ namespace gtsam {
double VectorValues::dot(const VectorValues& v) const
{
if(this->size() != v.size())
throw invalid_argument("VectorValues::dot called with a VectorValues of different structure");
throw std::invalid_argument("VectorValues::dot called with a VectorValues of different structure");
double result = 0.0;
auto this_it = this->begin();
auto v_it = v.begin();
for(; this_it != this->end(); ++this_it, ++v_it) {
assert_throw(this_it->first == v_it->first,
invalid_argument("VectorValues::dot called with a VectorValues of different structure"));
std::invalid_argument("VectorValues::dot called with a VectorValues of different structure"));
assert_throw(this_it->second.size() == v_it->second.size(),
invalid_argument("VectorValues::dot called with a VectorValues of different structure"));
std::invalid_argument("VectorValues::dot called with a VectorValues of different structure"));
result += this_it->second.dot(v_it->second);
}
return result;
@ -254,9 +259,9 @@ namespace gtsam {
VectorValues VectorValues::operator+(const VectorValues& c) const
{
if(this->size() != c.size())
throw invalid_argument("VectorValues::operator+ called with different vector sizes");
throw std::invalid_argument("VectorValues::operator+ called with different vector sizes");
assert_throw(hasSameStructure(c),
invalid_argument("VectorValues::operator+ called with different vector sizes"));
std::invalid_argument("VectorValues::operator+ called with different vector sizes"));
VectorValues result;
// The result.end() hint here should result in constant-time inserts
@ -280,9 +285,9 @@ namespace gtsam {
VectorValues& VectorValues::operator+=(const VectorValues& c)
{
if(this->size() != c.size())
throw invalid_argument("VectorValues::operator+= called with different vector sizes");
throw std::invalid_argument("VectorValues::operator+= called with different vector sizes");
assert_throw(hasSameStructure(c),
invalid_argument("VectorValues::operator+= called with different vector sizes"));
std::invalid_argument("VectorValues::operator+= called with different vector sizes"));
iterator j1 = begin();
const_iterator j2 = c.begin();
@ -303,11 +308,11 @@ namespace gtsam {
VectorValues& VectorValues::addInPlace_(const VectorValues& c)
{
for(const_iterator j2 = c.begin(); j2 != c.end(); ++j2) {
pair<VectorValues::iterator, bool> xi = tryInsert(j2->first, Vector());
if(xi.second)
xi.first->second = j2->second;
const auto& [it, success] = tryInsert(j2->first, Vector());
if(success)
it->second = j2->second;
else
xi.first->second += j2->second;
it->second += j2->second;
}
return *this;
}
@ -316,9 +321,9 @@ namespace gtsam {
VectorValues VectorValues::operator-(const VectorValues& c) const
{
if(this->size() != c.size())
throw invalid_argument("VectorValues::operator- called with different vector sizes");
throw std::invalid_argument("VectorValues::operator- called with different vector sizes");
assert_throw(hasSameStructure(c),
invalid_argument("VectorValues::operator- called with different vector sizes"));
std::invalid_argument("VectorValues::operator- called with different vector sizes"));
VectorValues result;
// The result.end() hint here should result in constant-time inserts
@ -373,8 +378,8 @@ namespace gtsam {
}
/* ************************************************************************ */
string VectorValues::html(const KeyFormatter& keyFormatter) const {
stringstream ss;
std::string VectorValues::html(const KeyFormatter& keyFormatter) const {
std::stringstream ss;
// Print out preamble.
ss << "<div>\n<table class='VectorValues'>\n <thead>\n";
@ -406,3 +411,6 @@ namespace gtsam {
/* ************************************************************************ */
} // \namespace gtsam
#pragma clang diagnostic pop

8
gtsam/linear/linearExceptions.cpp
View File

@ -41,23 +41,23 @@ more information.");
/* ************************************************************************* */
const char* InvalidNoiseModel::what() const noexcept {
if(description_.empty())
if(description_->empty())
description_ = "A JacobianFactor was attempted to be constructed or modified to use a\n"
"noise model of incompatible dimension. The JacobianFactor has\n"
"dimensionality (i.e. length of error vector) " + std::to_string(factorDims) +
" but the provided noise model has dimensionality " + std::to_string(noiseModelDims) + ".";
return description_.c_str();
return description_->c_str();
}
/* ************************************************************************* */
const char* InvalidMatrixBlock::what() const noexcept {
if(description_.empty()) {
if(description_->empty()) {
description_ = "A JacobianFactor was attempted to be constructed with a matrix block of\n"
"inconsistent dimension. The JacobianFactor has " + std::to_string(factorRows) +
" rows (i.e. length of error vector) but the provided matrix block has " +
std::to_string(blockRows) + " rows.";
}
return description_.c_str();
return description_->c_str();
}
}

6
gtsam/linear/linearExceptions.h
View File

@ -113,9 +113,6 @@ namespace gtsam {
~InvalidNoiseModel() noexcept override {}
const char* what() const noexcept override;
private:
mutable std::string description_;
};
/* ************************************************************************* */
@ -131,9 +128,6 @@ namespace gtsam {
~InvalidMatrixBlock() noexcept override {}
const char* what() const noexcept override;
private:
mutable std::string description_;
};
/* ************************************************************************* */

4
gtsam/navigation/BarometricFactor.h
View File

@ -89,12 +89,12 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
// From https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
return (std::pow(n / 101.29, 1. / 5.256) * 288.08 - 273.1 - 15.04) /
-0.00649;
};
}
inline double baroOut(const double& meters) {
double temp = 15.04 - 0.00649 * meters;
return 101.29 * std::pow(((temp + 273.1) / 288.08), 5.256);
};
}
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION ///

4
gtsam/navigation/CombinedImuFactor.h
View File

@ -71,8 +71,8 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
biasAccOmegaInt(I_6x6) {}
/// See two named constructors below for good values of n_gravity in body frame
PreintegrationCombinedParams(const Vector3& n_gravity) :
PreintegrationParams(n_gravity), biasAccCovariance(I_3x3),
PreintegrationCombinedParams(const Vector3& _n_gravity) :
PreintegrationParams(_n_gravity), biasAccCovariance(I_3x3),
biasOmegaCovariance(I_3x3), biasAccOmegaInt(I_6x6) {
}

15
gtsam/navigation/NavState.cpp
View File

@ -18,12 +18,10 @@
#include <gtsam/navigation/NavState.h>
using namespace std;
#include <string>
namespace gtsam {
#define TIE(R,t,v,x) const Rot3& R = (x).R_;const Point3& t = (x).t_;const Velocity3& v = (x).v_;
//------------------------------------------------------------------------------
NavState NavState::Create(const Rot3& R, const Point3& t, const Velocity3& v,
OptionalJacobian<9, 3> H1, OptionalJacobian<9, 3> H2,
@ -87,7 +85,7 @@ Matrix7 NavState::matrix() const {
}
//------------------------------------------------------------------------------
ostream& operator<<(ostream& os, const NavState& state) {
std::ostream& operator<<(std::ostream& os, const NavState& state) {
os << "R: " << state.attitude() << "\n";
os << "p: " << state.position().transpose() << "\n";
os << "v: " << state.velocity().transpose();
@ -95,8 +93,8 @@ ostream& operator<<(ostream& os, const NavState& state) {
}
//------------------------------------------------------------------------------
void NavState::print(const string& s) const {
cout << (s.empty() ? s : s + " ") << *this << endl;
void NavState::print(const std::string& s) const {
std::cout << (s.empty() ? s : s + " ") << *this << std::endl;
}
//------------------------------------------------------------------------------
@ -108,7 +106,7 @@ bool NavState::equals(const NavState& other, double tol) const {
//------------------------------------------------------------------------------
NavState NavState::retract(const Vector9& xi, //
OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const {
TIE(nRb, n_t, n_v, *this);
auto [nRb, n_t, n_v] = (*this);
Matrix3 D_bRc_xi, D_R_nRb, D_t_nRb, D_v_nRb;
const Rot3 bRc = Rot3::Expmap(dR(xi), H2 ? &D_bRc_xi : 0);
const Rot3 nRc = nRb.compose(bRc, H1 ? &D_R_nRb : 0);
@ -214,7 +212,8 @@ NavState NavState::update(const Vector3& b_acceleration, const Vector3& b_omega,
//------------------------------------------------------------------------------
Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder,
OptionalJacobian<9, 9> H) const {
TIE(nRb, n_t, n_v, *this);
auto [nRb, n_t, n_v] = (*this);
const double dt2 = dt * dt;
const Vector3 omega_cross_vel = omega.cross(n_v);

2
gtsam/nonlinear/CustomFactor.h
View File

@ -69,8 +69,6 @@ public:
this->error_function_ = errorFunction;
}
~CustomFactor() override = default;
/**
* Calls the errorFunction closure, which is a std::function object
* One can check if a derivative is needed in the errorFunction by checking the length of Jacobian array

4
gtsam/nonlinear/DoglegOptimizer.cpp
View File

@ -54,8 +54,8 @@ namespace internal {
struct DoglegState : public NonlinearOptimizerState {
const double delta;
DoglegState(const Values& values, double error, double delta, unsigned int iterations = 0)
: NonlinearOptimizerState(values, error, iterations), delta(delta) {}
DoglegState(const Values& _values, double _error, double _delta, unsigned int _iterations = 0)
: NonlinearOptimizerState(_values, _error, _iterations), delta(_delta) {}
};
}

1
gtsam/nonlinear/ISAM2Clique.h
View File

@ -51,7 +51,6 @@ class GTSAM_EXPORT ISAM2Clique
/// Default constructor
ISAM2Clique() : Base() {}
virtual ~ISAM2Clique() = default;
/// Copy constructor, does *not* copy solution pointers as these are invalid
/// in different trees.

3
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -145,7 +145,8 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
double modelFidelity = 0.0;
bool step_is_successful = false;
bool stopSearchingLambda = false;
double newError = numeric_limits<double>::infinity(), costChange;
double newError = numeric_limits<double>::infinity();
double costChange = 0.0;
Values newValues;
VectorValues delta;

4
gtsam/nonlinear/LevenbergMarquardtParams.h
View File

@ -117,8 +117,8 @@ public:
}
static LevenbergMarquardtParams ReplaceOrdering(LevenbergMarquardtParams params,
const Ordering& ordering) {
params.ordering = ordering;
const Ordering& ord) {
params.ordering = ord;
return params;
}

2
gtsam/nonlinear/NonlinearFactor.h
View File

@ -106,7 +106,7 @@ public:
/// @{
/** Destructor */
virtual ~NonlinearFactor() {}
virtual ~NonlinearFactor() override {}
/**
* In nonlinear factors, the error function returns the negative log-likelihood

2
gtsam/nonlinear/NonlinearFactorGraph.h
View File

@ -79,7 +79,7 @@ namespace gtsam {
NonlinearFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
/// Destructor
virtual ~NonlinearFactorGraph() {}
virtual ~NonlinearFactorGraph() override {}
/// @}
/// @name Testable

18
gtsam/nonlinear/internal/LevenbergMarquardtState.h
View File

@ -49,19 +49,19 @@ struct LevenbergMarquardtState : public NonlinearOptimizerState {
// optimization (for each iteration, LM tries multiple
// inner iterations with different lambdas)
LevenbergMarquardtState(const Values& initialValues, double error, double lambda,
double currentFactor, unsigned int iterations = 0,
LevenbergMarquardtState(const Values& initialValues, double _error, double _lambda,
double currentFactor, unsigned int _iterations = 0,
unsigned int totalNumberInnerIterations = 0)
: NonlinearOptimizerState(initialValues, error, iterations),
lambda(lambda),
: NonlinearOptimizerState(initialValues, _error, _iterations),
lambda(_lambda),
currentFactor(currentFactor),
totalNumberInnerIterations(totalNumberInnerIterations) {}
// Constructor version that takes ownership of values
LevenbergMarquardtState(Values&& initialValues, double error, double lambda, double currentFactor,
unsigned int iterations = 0, unsigned int totalNumberInnerIterations = 0)
: NonlinearOptimizerState(initialValues, error, iterations),
lambda(lambda),
LevenbergMarquardtState(Values&& initialValues, double _error, double _lambda, double currentFactor,
unsigned int _iterations = 0, unsigned int totalNumberInnerIterations = 0)
: NonlinearOptimizerState(initialValues, _error, _iterations),
lambda(_lambda),
currentFactor(currentFactor),
totalNumberInnerIterations(totalNumberInnerIterations) {}
@ -119,7 +119,7 @@ struct LevenbergMarquardtState : public NonlinearOptimizerState {
if (!item->model)
*item = CachedModel(dim, 1.0 / std::sqrt(lambda));
return item;
};
}
/// Build a damped system for a specific lambda, vanilla version
GaussianFactorGraph buildDampedSystem(GaussianFactorGraph damped /* gets copied */) const {

3
gtsam/sfm/BinaryMeasurement.h
View File

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

4
gtsam/sfm/DsfTrackGenerator.h
View File

@ -48,8 +48,8 @@ struct Keypoints {
/// Optional confidences/responses for each detection, of shape N.
std::optional<gtsam::Vector> responses;
Keypoints(const Eigen::MatrixX2d& coordinates)
: coordinates(coordinates){}; // std::nullopt
Keypoints(const Eigen::MatrixX2d &_coordinates)
: coordinates(_coordinates) {}
};
using KeypointsVector = std::vector<Keypoints>;

2
gtsam/slam/FrobeniusFactor.cpp
View File

@ -61,7 +61,7 @@ ConvertNoiseModel(const SharedNoiseModel &model, size_t d, bool defaultToUnit) {
return noiseModel::Robust::Create(
noiseModel::mEstimator::Huber::Create(1.345), isoModel);
} else {
return isoModel;
return std::move(isoModel);
}
}

4
gtsam/slam/GeneralSFMFactor.h
View File

@ -129,7 +129,7 @@ public:
try {
return camera.project2(point,H1,H2) - measured_;
}
catch( CheiralityException& e) {
catch( CheiralityException& e [[maybe_unused]]) {
if (H1) *H1 = JacobianC::Zero();
if (H2) *H2 = JacobianL::Zero();
//TODO Print the exception via logging
@ -150,7 +150,7 @@ public:
const CAMERA& camera = values.at<CAMERA>(key1);
const LANDMARK& point = values.at<LANDMARK>(key2);
b = measured() - camera.project2(point, H1, H2);
} catch (CheiralityException& e) {
} catch (CheiralityException& e [[maybe_unused]]) {
H1.setZero();
H2.setZero();
b.setZero();

3
gtsam/slam/SmartProjectionRigFactor.h
View File

@ -107,9 +107,6 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
"linearizationMode must be set to HESSIAN");
}
/** Virtual destructor */
~SmartProjectionRigFactor() override = default;
/**
* add a new measurement, corresponding to an observation from pose "poseKey"
* and taken from the camera in the rig identified by "cameraId"

9
gtsam/slam/dataset.cpp
View File

@ -456,19 +456,14 @@ template <> struct ParseMeasurement<BearingRange2D> {
// The actual parser
std::optional<BinaryMeasurement<BearingRange2D>>
operator()(std::istream &is, const std::string &tag) {
if (tag != "BR" && tag != "LANDMARK")
return std::nullopt;
size_t id1, id2;
is >> id1 >> id2;
double bearing, range, bearing_std, range_std;
if (tag == "BR") {
is >> bearing >> range >> bearing_std >> range_std;
}
} else if (tag == "LANDMARK") {
// A landmark measurement, converted to bearing-range
if (tag == "LANDMARK") {
double lmx, lmy;
double v1, v2, v3;
@ -489,6 +484,8 @@ template <> struct ParseMeasurement<BearingRange2D> {
bearing_std = 1;
range_std = 1;
}
} else {
return std::nullopt;
}
// optional filter

3
gtsam/symbolic/SymbolicBayesNet.h
View File

@ -83,9 +83,6 @@ namespace gtsam {
return *this;
}
/// Destructor
virtual ~SymbolicBayesNet() {}
/// @}
/// @name Testable

1
gtsam/symbolic/SymbolicBayesTree.h
View File

@ -39,7 +39,6 @@ namespace gtsam {
typedef std::shared_ptr<This> shared_ptr;
typedef std::weak_ptr<This> weak_ptr;
SymbolicBayesTreeClique() {}
virtual ~SymbolicBayesTreeClique() {}
SymbolicBayesTreeClique(const std::shared_ptr<SymbolicConditional>& conditional) : Base(conditional) {}
};

2
gtsam/symbolic/SymbolicFactor.h
View File

@ -79,7 +79,7 @@ namespace gtsam {
/** Create symbolic version of any factor */
explicit SymbolicFactor(const Factor& factor) : Base(factor.keys()) {}
virtual ~SymbolicFactor() {}
virtual ~SymbolicFactor() override {}
/// Copy this object as its actual derived type.
SymbolicFactor::shared_ptr clone() const { return std::make_shared<This>(*this); }

3
gtsam/symbolic/SymbolicFactorGraph.h
View File

@ -111,9 +111,6 @@ namespace gtsam {
return *this;
}
/// Destructor
virtual ~SymbolicFactorGraph() {}
/// @}
/// @name Testable

3
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
View File

@ -113,9 +113,6 @@ class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter
"linearizationMode must be set to HESSIAN");
}
/** Virtual destructor */
~SmartProjectionPoseFactorRollingShutter() override = default;
/**
* add a new measurement, with 2 pose keys, interpolation factor, and cameraId
* @param measured 2-dimensional location of the projection of a single

3
gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
View File

@ -79,9 +79,6 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
const SmartStereoProjectionParams& params =
SmartStereoProjectionParams());
/** Virtual destructor */
~SmartStereoProjectionFactorPP() override = default;
/**
* add a new measurement, with a pose key, and an extrinsic pose key
* @param measured is the 3-dimensional location of the projection of a

3
gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
View File

@ -71,9 +71,6 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor
const SmartStereoProjectionParams& params = SmartStereoProjectionParams(),
const std::optional<Pose3>& body_P_sensor = {});
/** Virtual destructor */
~SmartStereoProjectionPoseFactor() override = default;
/**
* add a new measurement and pose key
* @param measured is the 2m dimensional location of the projection of a