diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index 96000e7af9877b06932e6147d1659b361c19e49c..5985861bc340af52ae03e3b387e55e10e9cd73f4 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -271,7 +271,7 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("POV", 3);
+ ProblemPtr problem = Problem::create(3);
// add a tree manager for sliding window optimization
ParserYaml parser = ParserYaml("demos/tree_manager.yaml", bodydynamics_root_dir);
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index 56f5cae3990fc94cea21c754b72fb002cb4d7996..6195d25b75d3b127c2f9f5a8c23e8e0d1a233faf 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -245,7 +245,7 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("POV", 3);
+ ProblemPtr problem = Problem::create(3);
// add a tree manager for sliding window optimization
ParserYaml parser = ParserYaml("demos/tree_manager.yaml", bodydynamics_root_dir);
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index 52aac31fdf503e2c9da033aedf0cc248fcd5eca8..42d2776471e8aa538c28a32d537dfcd7f0a4fed0 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -214,7 +214,7 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("POV", 3);
+ ProblemPtr problem = Problem::create(3);
// add a tree manager for sliding window optimization
ParserYaml parser = ParserYaml("demos/tree_manager.yaml", bodydynamics_root_dir);
diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp
index 9713a079285a96509f78066a056d50613110e650..f8e4b0a220b0fd91ede1dd5fbb66c881d6f68a46 100644
--- a/demos/solo_kine_mocap.cpp
+++ b/demos/solo_kine_mocap.cpp
@@ -218,8 +218,8 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("PO", 3);
- // ProblemPtr problem = Problem::create("POV", 3);
+ ProblemPtr problem = Problem::create(3);
+ // ProblemPtr problem = Problem::create(3);
// add a tree manager for sliding window optimization
ParserYaml parser = ParserYaml("demos/tree_manager.yaml", bodydynamics_root_dir);
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index b504820a3f1f90e1e01211913c934ab1eabcdb61..a714d32bd72af962f33ba98d0e5b8b3f96e26e27 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -218,7 +218,7 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("POVCDL", 3);
+ ProblemPtr problem = Problem::create(3);
//////////////////////
// COMPUTE INITIAL STATE
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index f7ca0c5953932bf0e5243e5436c7e74b10fefcd7..00d5eaa4ae1d50f4c8d27ea5991fac49bcbaa714 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -208,7 +208,7 @@ class FactorInertialKinematics_2KF : public testing::Test
mass_ = 10.0; // Small 10 kg robot
//===================================================== SETTING PROBLEM
// WOLF PROBLEM
- problem_ = Problem::create("POV", 3);
+ problem_ = Problem::create(3);
VectorXd extr_ik(0);
ParamsSensorInertialKinematicsPtr intr_ik = std::make_shared<ParamsSensorInertialKinematics>();
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index ba809bf55ff8115bf349e6f2267c20cf2cd7b4c4..f60381152a363d740680da05754243ead0db50c6 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -95,7 +95,7 @@ class FactorInertialKinematics_1KF : public testing::Test
{
//===================================================== SETTING PROBLEM
// WOLF PROBLEM
- problem_ = Problem::create("POV", 3);
+ problem_ = Problem::create(3);
// CERES WRAPPER
solver_ = std::make_shared<SolverCeres>(problem_);
@@ -301,7 +301,7 @@ class FactorInertialKinematics_1KF_1v_bfix : public FactorInertialKinematics_1KF
//
// //===================================================== SETTING PROBLEM
// // WOLF PROBLEM
-// problem_ = Problem::create("POV", 3);
+// problem_ = Problem::create(3);
//
// // CERES WRAPPER
// ceres::Solver::Options ceres_options;
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index a18e2451d70a33cf190ec9f94e6edb336e6407f6..c7dab46d0785a6a996e0d21f13c41aa20a298f2c 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -89,7 +89,7 @@ class ProcessorForceTorquePreintImuOdom3dIkin2KF : public testing::Test
{
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- problem_ = Problem::create("POVCDL", 3);
+ problem_ = Problem::create(3);
// CERES WRAPPER
solver_ = std::make_shared<SolverCeres>(problem_);
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index f2f69a3fc4b19667b4a2f49992a669d1759e37f4..ffcfb64ca68b84cb2c53ee3bd48490ba1997973d 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -71,7 +71,7 @@ class FactorInertialKinematics_2KF : public testing::Test
{
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- problem_ = Problem::create("POVCDL", 3);
+ problem_ = Problem::create(3);
// CERES WRAPPER
solver_ = std::make_shared<SolverCeres>(problem_);
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index 38254919775f01e2981cb5e84802fd8a12580d58..fb52f847ea6a7de91b94389eb2c6573a994c740c 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -72,7 +72,7 @@ class PointFeetCaptures : public testing::Test
{
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- problem_ = Problem::create("PO", 3);
+ problem_ = Problem::create(3);
// CERES WRAPPER
// solver_ = std::make_shared<SolverCeres>(problem_);