From 8b260022c58b054746bde8a32f4247198875d546 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Sat, 19 Dec 2020 17:25:12 +0100 Subject: [PATCH] rename emplaceKeyFrame -> emplace and emplaceFrame --- test/gtest_factor_force_torque.cpp | 2 +- test/gtest_processor_force_torque_preint.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp index d529469..2a8ef41 100644 --- a/test/gtest_factor_force_torque.cpp +++ b/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); diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp index 1d9a96c..287b952 100644 --- a/test/gtest_processor_force_torque_preint.cpp +++ b/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(); -- GitLab