diff --git a/include/gnss/processor/processor_gnss_fix.h b/include/gnss/processor/processor_gnss_fix.h index 07d00f30a156022a028a96c72da7b9cf2bbc4879..4bd3dfe2eb36aa62ab097a9fc092db62f76b3131 100644 --- a/include/gnss/processor/processor_gnss_fix.h +++ b/include/gnss/processor/processor_gnss_fix.h @@ -92,7 +92,7 @@ class ProcessorGnssFix : public ProcessorBase virtual bool voteForKeyFrame() override; private: - FactorBasePtr emplaceFactor(FeatureBasePtr& ftr_ptr); + FactorBasePtr emplaceFactor(FeatureBasePtr _ftr_ptr); bool rejectOutlier(FactorBasePtr ctr_ptr); public: diff --git a/include/gnss/processor/processor_gnss_single_diff.h b/include/gnss/processor/processor_gnss_single_diff.h index b4a215d791d7453bb8446f19e4cec080a0538045..b425b162d642e89328b5d2f58bb2f6f3d97e7af7 100644 --- a/include/gnss/processor/processor_gnss_single_diff.h +++ b/include/gnss/processor/processor_gnss_single_diff.h @@ -94,7 +94,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase private: - FactorBasePtr emplaceFactor(FeatureBasePtr& ftr); + FactorBasePtr emplaceFactor(FeatureBasePtr _ftr); public: static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor); diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp index 578e0203ceed53593ae5f6c5c5fe85ce109f8ce5..f11be23a5373ee138d7ebff11a54d802258ae91b 100644 --- a/src/processor/processor_gnss_fix.cpp +++ b/src/processor/processor_gnss_fix.cpp @@ -98,16 +98,16 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture) } } -FactorBasePtr ProcessorGnssFix::emplaceFactor(FeatureBasePtr& ftr) +FactorBasePtr ProcessorGnssFix::emplaceFactor(FeatureBasePtr _ftr) { // CREATE CONSTRAINT -------------------- //WOLF_DEBUG("creating the factor..."); // 2D if (getProblem()->getDim() == 2) - return FactorBase::emplace<FactorGnssFix2D>(ftr, ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE); + return FactorBase::emplace<FactorGnssFix2D>(_ftr, _ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE); // 3D else - return FactorBase::emplace<FactorGnssFix3D>(ftr, ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE); + return FactorBase::emplace<FactorGnssFix3D>(_ftr, _ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE); } bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac) diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp index c2bb47b995d6b07205dc51d984b89d0bd279c141..3bc0a79c7b93175b8a56cbef27861f1204d61cca 100644 --- a/src/processor/processor_gnss_single_diff.cpp +++ b/src/processor/processor_gnss_single_diff.cpp @@ -88,12 +88,12 @@ void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture) } } -FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr& ftr) +FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr _ftr) { //WOLF_DEBUG("creating the factor..."); // 2D if (getProblem()->getDim() == 2) - return FactorBase::emplace<FactorGnssSingleDiff2D>(ftr, ftr, incoming_capture_->getOriginFrame(), sensor_gnss_, shared_from_this()); + return FactorBase::emplace<FactorGnssSingleDiff2D>(_ftr, _ftr, incoming_capture_->getOriginFrame(), sensor_gnss_, shared_from_this()); // 3D TODO else std::runtime_error("Single Differences in 3D not implemented yet.");