From 011cc220b835615a0c7a5b7853ee54ebdda48b6b Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Thu, 15 Feb 2024 15:09:47 -0600
Subject: [PATCH] Fixup

---
 .../trajopt_sqp/include/trajopt_sqp/sqp_callback.h            | 2 ++
 trajopt_optimizers/trajopt_sqp/src/ifopt_qp_problem.cpp       | 4 ++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/sqp_callback.h b/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/sqp_callback.h
index 5510c6520..6702bdd24 100644
--- a/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/sqp_callback.h
+++ b/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/sqp_callback.h
@@ -40,6 +40,8 @@ class SQPCallback
   using Ptr = std::shared_ptr<SQPCallback>;
   using ConstPtr = std::shared_ptr<const SQPCallback>;
 
+  virtual ~SQPCallback() = default;
+
   /**
    * @brief This is the function called during the SQP
    * @param nlp The ifopt::Problem being optimized
diff --git a/trajopt_optimizers/trajopt_sqp/src/ifopt_qp_problem.cpp b/trajopt_optimizers/trajopt_sqp/src/ifopt_qp_problem.cpp
index 99d6e5e00..f049ddf18 100644
--- a/trajopt_optimizers/trajopt_sqp/src/ifopt_qp_problem.cpp
+++ b/trajopt_optimizers/trajopt_sqp/src/ifopt_qp_problem.cpp
@@ -429,7 +429,7 @@ double IfoptQPProblem::evaluateTotalConvexCost(const Eigen::Ref<const Eigen::Vec
 Eigen::VectorXd IfoptQPProblem::evaluateConvexCosts(const Eigen::Ref<const Eigen::VectorXd>& var_vals)
 {
   if (num_nlp_costs_ == 0)
-    return Eigen::VectorXd();
+    return {};
 
   auto var_block = var_vals.head(num_nlp_vars_);
   Eigen::VectorXd result_quad = var_block.transpose() * hessian_.block(0, 0, num_nlp_vars_, num_nlp_vars_) * var_block;
@@ -445,7 +445,7 @@ double IfoptQPProblem::evaluateTotalExactCost(const Eigen::Ref<const Eigen::Vect
 Eigen::VectorXd IfoptQPProblem::evaluateExactCosts(const Eigen::Ref<const Eigen::VectorXd>& var_vals)
 {
   if (!nlp_->HasCostTerms())
-    return Eigen::VectorXd();
+    return {};
 
   nlp_->SetVariables(var_vals.data());
   return nlp_->GetCosts().GetValues();