Substitute getLast()->getFrame() by getLastFrame()

src/processor/processor_tracker_gnss.cpp

@@ -339,7 +339,7 @@ void ProcessorTrackerGnss::establishFactors()
     // initialize frame state with antenna position in map coordinates
     // (since we don't have orientation for removing extrinsics)
     if (params_tracker_gnss_->init_frames and fix_last_.success)
-        last_ptr_->getFrame()->getP()->setState(sensor_gnss_->getQEnuMap().conjugate() * (sensor_gnss_->getQEnuEcef() * fix_last_.pos + sensor_gnss_->gettEnuEcef() - sensor_gnss_->gettEnuMap()));
+        last_frame_ptr_->getP()->setState(sensor_gnss_->getQEnuMap().conjugate() * (sensor_gnss_->getQEnuEcef() * fix_last_.pos + sensor_gnss_->gettEnuEcef() - sensor_gnss_->gettEnuMap()));
 
     FactorBasePtrList new_factors;
 
@@ -408,7 +408,7 @@ void ProcessorTrackerGnss::establishFactors()
         // Displacement factor from batch TDCP (FactorGnssTdcp3d)
         if (params_tracker_gnss_->tdcp_params.batch)
         {
-            WOLF_DEBUG("TDCP BATCH frame ", last_ptr_->getFrame()->id());
+            WOLF_DEBUG("TDCP BATCH frame ", last_frame_ptr_->id());
             FactorBasePtr last_fac_ptr = nullptr;
 
             auto frame_map = getProblem()->getTrajectory()->getFrameMap();
@@ -420,7 +420,7 @@ void ProcessorTrackerGnss::establishFactors()
                 WOLF_DEBUG("TDCP BATCH ref frame ", ref_KF->id());
 
                 // discard non-key frames, last-last pair and frames without CaptureGnss
-                if (ref_KF == last_ptr_->getFrame() or
+                if (ref_KF == last_frame_ptr_ or
                     ref_KF->getCaptureOf(getSensor(),"CaptureGnss") == nullptr)
                     continue;