rename emplaceKeyFrame -> emplace and emplaceFrame

test/gtest_factor_force_torque.cpp

@@ -151,7 +151,7 @@ void perturbateAllIfUnFixed(const FrameBasePtr& KF)
 FrameBasePtr createKFWithCDLI(const ProblemPtr& problem, const TimeStamp& t, VectorComposite x_origin,
                               Vector3d c, Vector3d cd, Vector3d Lc, Vector6d bias_imu)
 {
-    FrameBasePtr KF = FrameBase::emplaceKeyFrame<FrameBase>(problem->getTrajectory(), t, "POV", x_origin);
+    FrameBasePtr KF = FrameBase::emplace<FrameBase>(problem->getTrajectory(), t, "POV", x_origin);
     StateBlockPtr sbc = make_shared<StateBlock>(c);  KF->addStateBlock('C', sbc, problem);
     StateBlockPtr sbd = make_shared<StateBlock>(cd); KF->addStateBlock('D', sbd, problem);
     StateBlockPtr sbL = make_shared<StateBlock>(Lc); KF->addStateBlock('L', sbL, problem);

test/gtest_processor_force_torque_preint.cpp

@@ -204,7 +204,7 @@ public:
         // - call setOrigin on processors isMotion
         setOriginState();
         MatrixXd P_origin_ = pow(1e-3, 2) * MatrixXd::Identity(18,18);
-        KF1_ = problem_->emplaceKeyFrame( t0_, x_origin_);
+        KF1_ = problem_->emplaceFrame( t0_, x_origin_);
         // Prior pose factor
         CapturePosePtr pose_prior_capture = CaptureBase::emplace<CapturePose>(KF1_, t0_, nullptr, x_origin_.head(7), P_origin_.topLeftCorner(6, 6));
         pose_prior_capture->emplaceFeatureAndFactor();