Merge branch 'remove-shptr-reference' into 'devel'

Replace sh_ptr reference by simple sh_ptr

See merge request !7

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:

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);

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)

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.");