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add override keyword to functions

release/4.3a0
David Wisth 2021-12-08 18:17:35 +00:00
parent c2a9fc04b5
commit ab73e03ad4
1 changed files with 8 additions and 6 deletions
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14
gtsam_unstable/slam/PoseToPointFactor.h
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@ -45,8 +45,9 @@ class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
/** implement functions needed for Testable */ /** implement functions needed for Testable */
/** print */ /** print */
virtual void print(const std::string& s, const KeyFormatter& keyFormatter = virtual void print(
DefaultKeyFormatter) const { const std::string& s,
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << "PoseToPointFactor(" << keyFormatter(this->key1()) << "," std::cout << s << "PoseToPointFactor(" << keyFormatter(this->key1()) << ","
<< keyFormatter(this->key2()) << ")\n" << keyFormatter(this->key2()) << ")\n"
<< " measured: " << measured_.transpose() << std::endl; << " measured: " << measured_.transpose() << std::endl;
@ -55,7 +56,7 @@ class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
/** equals */ /** equals */
virtual bool equals(const NonlinearFactor& expected, virtual bool equals(const NonlinearFactor& expected,
double tol = 1e-9) const { double tol = 1e-9) const override {
const This* e = dynamic_cast<const This*>(&expected); const This* e = dynamic_cast<const This*>(&expected);
return e != nullptr && Base::equals(*e, tol) && return e != nullptr && Base::equals(*e, tol) &&
traits<POINT>::Equals(this->measured_, e->measured_, tol); traits<POINT>::Equals(this->measured_, e->measured_, tol);
@ -70,9 +71,10 @@ class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
* *
* Note: measured_ and the error are in local coordiantes. * Note: measured_ and the error are in local coordiantes.
*/ */
Vector evaluateError(const POSE& w_T_b, const POINT& w_P, Vector evaluateError(
boost::optional<Matrix&> H1 = boost::none, const POSE& w_T_b, const POINT& w_P,
boost::optional<Matrix&> H2 = boost::none) const { boost::optional<Matrix&> H1 = boost::none,
boost::optional<Matrix&> H2 = boost::none) const override {
return w_T_b.transformTo(w_P, H1, H2) - measured_; return w_T_b.transformTo(w_P, H1, H2) - measured_;
} }