From c9845380180a218ec8cfa0ba9ac189f77d201eb5 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Thu, 11 Jun 2020 14:04:39 +0200
Subject: [PATCH] Fix trajectory iterators & emplaceKeyFrame

---
 src/processor/processor_gnss_fix.cpp         | 2 +-
 src/processor/processor_gnss_single_diff.cpp | 2 +-
 src/processor/processor_gnss_tdcp.cpp        | 6 +++---
 test/gtest_factor_gnss_fix_2d.cpp            | 2 +-
 test/gtest_factor_gnss_pseudo_range.cpp      | 2 +-
 test/gtest_factor_gnss_tdcp.cpp              | 4 ++--
 6 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index 036a91d51..69ab6723a 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -59,7 +59,7 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
     else if (permittedKeyFrame() && voteForKeyFrame())
     {
         WOLF_DEBUG("PR ", getName()," emplacing KF TS = ", incoming_capture_->getTimeStamp());
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame( incoming_capture_->getTimeStamp());
         KF_created = true;
     }
 
diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp
index fb44cb1d7..d2b297a73 100644
--- a/src/processor/processor_gnss_single_diff.cpp
+++ b/src/processor/processor_gnss_single_diff.cpp
@@ -48,7 +48,7 @@ void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture)
     // MAKE KF
     else if (voteForKeyFrame() && permittedKeyFrame())
     {
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame( incoming_capture_->getTimeStamp());
         getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_->time_tolerance);
         WOLF_DEBUG( "PR ",getName()," - capture ", incoming_capture_->id(), " appended to new KF " , new_frame->id() , " TS: ", new_frame->getTimeStamp());
     }
diff --git a/src/processor/processor_gnss_tdcp.cpp b/src/processor/processor_gnss_tdcp.cpp
index 7e5b9d904..1734ecf19 100644
--- a/src/processor/processor_gnss_tdcp.cpp
+++ b/src/processor/processor_gnss_tdcp.cpp
@@ -53,7 +53,7 @@ void ProcessorGnssTdcp::processCapture(CaptureBasePtr _capture)
     // MAKE KF
     else if (voteForKeyFrame() && permittedKeyFrame())
     {
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame( incoming_capture_->getTimeStamp());
         getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_->time_tolerance);
         WOLF_DEBUG( "PR ",getName()," - capture ", incoming_capture_->id(), " appended to new KF " , new_frame->id() , " TS: ", new_frame->getTimeStamp());
     }
@@ -123,8 +123,8 @@ void ProcessorGnssTdcp::processKeyFrame(FrameBasePtr _keyframe, const double& _t
     }
 
     // Iterate over all KF of the trajectory with GNSS captures
-    for (auto KF_it = getProblem()->getTrajectory()->getFrameList().rbegin();
-         KF_it != getProblem()->getTrajectory()->getFrameList().rend();
+    for (auto KF_it = getProblem()->getTrajectory()->rbegin();
+         KF_it != getProblem()->getTrajectory()->rend();
          KF_it++)
     {
         auto KF_ref = *KF_it;
diff --git a/test/gtest_factor_gnss_fix_2d.cpp b/test/gtest_factor_gnss_fix_2d.cpp
index b220bbedf..013354b41 100644
--- a/test/gtest_factor_gnss_fix_2d.cpp
+++ b/test/gtest_factor_gnss_fix_2d.cpp
@@ -112,7 +112,7 @@ TEST(FactorGnssFix2dTest, configure_tree)
 
     // Emplace a frame (FIXED)
     Vector3d frame_pose = (Vector3d() << t_map_base(0), t_map_base(1), o_map_base(0)).finished();
-    frame_ptr = problem_ptr->emplaceFrame(KEY, TimeStamp(0), frame_pose);
+    frame_ptr = problem_ptr->emplaceKeyFrame( TimeStamp(0), frame_pose);
     problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0);
 
     // Create & process GNSS Fix capture
diff --git a/test/gtest_factor_gnss_pseudo_range.cpp b/test/gtest_factor_gnss_pseudo_range.cpp
index d0568f7de..b98aba78a 100644
--- a/test/gtest_factor_gnss_pseudo_range.cpp
+++ b/test/gtest_factor_gnss_pseudo_range.cpp
@@ -104,7 +104,7 @@ void setUpProblem()
     Vector7d frm_state;
     frm_state.head<3>() = t_map_base;
     frm_state.tail<4>() = q_map_base.coeffs();
-    frm = prb->emplaceFrame(KEY, TimeStamp(0), frm_state);
+    frm = prb->emplaceKeyFrame( TimeStamp(0), frm_state);
 
     // capture
     cap = CaptureBase::emplace<CaptureGnss>(frm, TimeStamp(0), gnss_sensor, nullptr);
diff --git a/test/gtest_factor_gnss_tdcp.cpp b/test/gtest_factor_gnss_tdcp.cpp
index 17166ed4b..f0d45e936 100644
--- a/test/gtest_factor_gnss_tdcp.cpp
+++ b/test/gtest_factor_gnss_tdcp.cpp
@@ -118,13 +118,13 @@ void setUpProblem()
     Vector7d frm_r_state;
     frm_r_state.head<3>() = t_map_base_r;
     frm_r_state.tail<4>() = q_map_base_r.coeffs();
-    frm_r = prb->emplaceFrame(KEY, TimeStamp(0), frm_r_state);
+    frm_r = prb->emplaceKeyFrame( TimeStamp(0), frm_r_state);
 
     // Frame k
     Vector7d frm_k_state;
     frm_k_state.head<3>() = t_map_base_k;
     frm_k_state.tail<4>() = q_map_base_k.coeffs();
-    frm_k = prb->emplaceFrame(KEY, TimeStamp(1), frm_k_state);
+    frm_k = prb->emplaceKeyFrame( TimeStamp(1), frm_k_state);
 
     // capture r
     cap_r = CaptureBase::emplace<CaptureGnss>(frm_r, TimeStamp(0), gnss_sensor, nullptr);
-- 
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