From 327012a5b95e9535c681f7ebe55df2ee81f94e45 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Tue, 14 Jul 2020 16:09:31 +0200
Subject: [PATCH] Adapt to core branch renames
---
test/gtest_processor_force_torque_preint.cpp | 2 +-
test/gtest_processor_inertial_kinematics.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index d2c3781..8925efb 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -269,7 +269,7 @@ public:
setOdomData();
Matrix6d rel_pose_cov = 1e-6 * Matrix6d::Identity();
- KF2_ = problem_->getTrajectory()->getLastKeyFrame();
+ KF2_ = problem_->getTrajectory()->getLastFrame();
CaptureBasePtr cap_pose_base = CaptureBase::emplace<CapturePose>(KF2_, KF2_->getTimeStamp(), nullptr, prev_pose_curr_, rel_pose_cov);
FeatureBasePtr ftr_odom3d_base = FeatureBase::emplace<FeaturePose>(cap_pose_base, prev_pose_curr_, rel_pose_cov);
FactorBase::emplace<FactorOdom3d>(ftr_odom3d_base, ftr_odom3d_base, KF1_, nullptr, false);
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index 137b96f..ab377e4 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -197,7 +197,7 @@ TEST_F(FactorInertialKinematics_2KF, sensor_and_processors_registration)
Vector3d pdiff; pdiff << 4.5, 0, 0;
Vector3d vdiff; vdiff << 3, 0, 0;
- FrameBasePtr KF1 = problem_->getTrajectory()->getLastKeyFrame();
+ FrameBasePtr KF1 = problem_->getTrajectory()->getLastFrame();
ASSERT_MATRIX_APPROX(KF0_->getStateBlock('P')->getState(), ZERO3, 1e-6);
--
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