diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/src/examples/solver/test_iQR_wolf2.cpp
index 9250a851ce250ff1b84d3fcaa313892095332ebf..ec6dea6e8a6a1a34871b2fbaf050bb1b67a05115 100644
--- a/src/examples/solver/test_iQR_wolf2.cpp
+++ b/src/examples/solver/test_iQR_wolf2.cpp
@@ -172,8 +172,8 @@ int main(int argc, char *argv[])
     ground_truth.head(3) = pose_odom;
     odom_trajectory.head(3) = pose_odom;
 
-    WolfManager* wolf_manager_QR = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01);
-    WolfManager* wolf_manager_ceres = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01);
+    WolfManager* wolf_manager_QR = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01);
+    WolfManager* wolf_manager_ceres = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01);
 
     // Ceres initialization
     ceres::Solver::Options ceres_options;
diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp
index 20a13307fbff7c6409f88ab3c3ef132c86cba647..b1742b63934ec55dbcf34cadf667e748ab3ccaac 100644
--- a/src/examples/test_autodiff.cpp
+++ b/src/examples/test_autodiff.cpp
@@ -130,8 +130,8 @@ int main(int argc, char** argv)
     ground_truth.head(3) = pose_odom;
     odom_trajectory.head(3) = pose_odom;
 
-    WolfManager* wolf_manager_ceres = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
-    WolfManager* wolf_manager_wolf = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
+    WolfManager* wolf_manager_ceres = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
+    WolfManager* wolf_manager_wolf = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
     
     // Ceres wrapper
     ceres::Solver::Options ceres_options;
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index 6f448de29b1ad2c32b840dd8d0f947b7a8b636d2..697f55df87ca5d50661d38fd20450ea56df0f8da 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -127,7 +127,7 @@ int main(int argc, char** argv)
     ground_truth.head(3) = pose_odom;
     odom_trajectory.head(3) = pose_odom;
 
-    WolfManager* wolf_manager = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
+    WolfManager* wolf_manager = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
     
     // Ceres wrapper
     ceres::Solver::Options ceres_options;