use shared_from_this

src/processor/processor_force_torque_inertial_dynamics.cpp

@@ -104,8 +104,7 @@ void ProcessorForceTorqueInertialDynamics::emplaceFeaturesAndFactors(CaptureBase
 
     auto ftr_base = FeatureBase::emplace<FeatureBase>(_capture_own, "FeatureBase", measurement_gyro, gyro_cov);
 
-    FactorBase::emplace<FactorAngularMomentum>(
-        ftr_base, ftr_base, _capture_own->getSensor()->getProcessorList().back(), params_->apply_loss_function);
+    FactorBase::emplace<FactorAngularMomentum>(ftr_base, ftr_base, shared_from_this(), params_->apply_loss_function);
 
     // 3. Feature and factor bias -- IMU bias drift for acc and gyro
     //---------------------------------------------------------------