diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index f7924c5..b766db8 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -38,6 +38,8 @@
                           LocalizerInterface *localizer,
                           const ::std::string &name = "/drivetrain");
 
+  virtual ~DrivetrainLoop() {}
+
   int ControllerIndexFromGears();
 
  protected:
diff --git a/frc971/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localizer.h
index 43462b8..6677145 100644
--- a/frc971/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localizer.h
@@ -40,6 +40,8 @@
   typedef HybridEkf<double> Ekf;
   typedef typename Ekf::StateIdx StateIdx;
 
+  virtual ~LocalizerInterface() {}
+
   // Perform a single step of the filter, using the information that is
   // available on every drivetrain iteration.
   // The user should pass in the U that the real system experienced from the
@@ -136,6 +138,8 @@
     target_selector_.set_has_target(false);
   }
 
+  virtual ~DeadReckonEkf() {}
+
   void Update(const ::Eigen::Matrix<double, 2, 1> &U,
               ::aos::monotonic_clock::time_point now, double left_encoder,
               double right_encoder, double gyro_rate,