Merge pull request #761 from borglab/fix/warnings

gtsam/geometry/CalibratedCamera.h

@@ -119,22 +119,20 @@ public:
   /// @name Standard Constructors
   /// @{
 
-  /** default constructor */
+  /// Default constructor
-  PinholeBase() {
+  PinholeBase() {}
-  }
 
-  /** constructor with pose */
+  /// Constructor with pose
-  explicit PinholeBase(const Pose3& pose) :
+  explicit PinholeBase(const Pose3& pose) : pose_(pose) {}
-      pose_(pose) {
-  }
 
   /// @}
   /// @name Advanced Constructors
   /// @{
 
-  explicit PinholeBase(const Vector &v) :
+  explicit PinholeBase(const Vector& v) : pose_(Pose3::Expmap(v)) {}
-      pose_(Pose3::Expmap(v)) {
+
-  }
+  /// Default destructor
+  virtual ~PinholeBase() = default;
 
   /// @}
   /// @name Testable

gtsam/geometry/tests/testRot3.cpp

@@ -825,7 +825,7 @@ TEST(Rot3, RQ_derivative) {
     const auto R = Rot3::RzRyRx(xyz).matrix();
     const auto num = numericalDerivative11(RQ_proxy, R);
     Matrix39 calc;
-    RQ(R, calc).second;
+    RQ(R, calc);
 
     const auto err = vec_err.second;
     CHECK(assert_equal(num, calc, err));

gtsam/inference/Factor.h

@@ -102,6 +102,12 @@ typedef FastSet<FactorIndex> FactorIndexSet;
     /// @}
 
   public:
+   /// Default destructor
+   // public since it is required for boost serialization and static methods.
+   // virtual since it is public.
+   // http://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#Rc-dtor-virtual
+   virtual ~Factor() = default;
+
    /// @name Standard Interface
    /// @{
 
@@ -130,7 +136,6 @@ typedef FastSet<FactorIndex> FactorIndexSet;
 
    /// @}
 
-
    /// @name Testable
    /// @{
 

gtsam/inference/FactorGraph.h

@@ -148,6 +148,10 @@ class FactorGraph {
   /// @}
 
  public:
+  /// Default destructor
+  // Public and virtual so boost serialization can call it.
+  virtual ~FactorGraph() = default;
+
   /// @name Adding Single Factors
   /// @{