Change the order of FactorApriltagProj arguments

include/apriltag/factor/factor_apriltag_proj.h

@@ -48,13 +48,13 @@ class FactorApriltagProj : public FactorAutodiff<FactorApriltagProj, 8, 3, 4, 3,
         /** \brief Class constructor
          */
         FactorApriltagProj(
+                const FeatureApriltagProjPtr& _feature_ptr,
                 const SensorBasePtr& _sensor_ptr,
                 const FrameBasePtr& _frame_ptr,
                 const LandmarkBasePtr& _landmark_other_ptr,
-                const FeatureApriltagProjPtr& _feature_ptr,
                 const ProcessorBasePtr& _processor_ptr,
                 bool _apply_loss_function,
-                FactorStatus _status);
+                FactorStatus _status = FAC_ACTIVE);
 
         /** \brief Class Destructor
          */
@@ -110,10 +110,10 @@ namespace wolf
 {
 
 inline FactorApriltagProj::FactorApriltagProj(
+        const FeatureApriltagProjPtr& _feature_ptr,
         const SensorBasePtr& _sensor_ptr,
         const FrameBasePtr& _frame_ptr,
         const LandmarkBasePtr& _landmark_other_ptr,
-        const FeatureApriltagProjPtr& _feature_ptr,
         const ProcessorBasePtr& _processor_ptr,
         bool _apply_loss_function,
         FactorStatus _status) :

test/gtest_factor_apriltag_proj.cpp

@@ -237,13 +237,12 @@ TEST_F(FactorApriltagProj_class, Constructor)
 {   
     f1 = std::static_pointer_cast<FeatureApriltagProj>(FeatureBase::emplace<FeatureApriltagProj>(C1, meas1, meas_cov, 1, tag_width));
     FactorApriltagProjPtr factor = std::make_shared<FactorApriltagProj>(
+            f1,
             camera,
             F1,
             lmk1,
-            f1,
             nullptr,
-            false,
-            FAC_ACTIVE
+            false
     );
 
     ASSERT_TRUE(factor->getType() == "FactorApriltagProj");
@@ -256,7 +255,7 @@ TEST_F(FactorApriltagProj_class, problem_1KF)
     f1 = std::static_pointer_cast<FeatureApriltagProj>(FeatureBase::emplace<FeatureApriltagProj>(C1, meas1, meas_cov, 1, tag_width));
 
     //emplace feature and landmark
-    auto factor = FactorBase::emplace<FactorApriltagProj>(f1, camera, F1, lmk1, f1, nullptr, false, FAC_ACTIVE);
+    auto factor = FactorBase::emplace<FactorApriltagProj>(f1, f1, camera, F1, lmk1, nullptr, false);
 
     ASSERT_TRUE(problem->check(0));
 
@@ -294,8 +293,8 @@ TEST_F(FactorApriltagProj_class, problem_2KF)
     auto f2 = std::static_pointer_cast<FeatureApriltagProj>(FeatureBase::emplace<FeatureApriltagProj>(C2, meas2, meas_cov, 2, tag_width));
 
     //emplace feature and landmark
-    auto factor1 = FactorBase::emplace<FactorApriltagProj>(f1, camera, F1, lmk1, f1, nullptr, false, FAC_ACTIVE);
-    auto factor2 = FactorBase::emplace<FactorApriltagProj>(f2, camera, F2, lmk1, f2, nullptr, false, FAC_ACTIVE);
+    auto factor1 = FactorBase::emplace<FactorApriltagProj>(f1, f1, camera, F1, lmk1, nullptr, false);
+    auto factor2 = FactorBase::emplace<FactorApriltagProj>(f2, f2, camera, F2, lmk1, nullptr, false);
 
     ASSERT_TRUE(problem->check(0));