diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp index f4d7fe28399f9315333de0ad140cf1d709418373..b2ad0211aa2cb1ba52b112e8980bb47aa9fcc4cf 100644 --- a/src/processor/processor_gnss_fix.cpp +++ b/src/processor/processor_gnss_fix.cpp @@ -84,7 +84,7 @@ 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; } // OTHERWISE return diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp index fb44cb1d7289a67036ea1dafd5066e65a162ce04..d2b297a730fceccfa43ede5e44d089ef0ba1bcec 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 7e5b9d9043437c88ec7866f35deb1baa92f7e216..1734ecf19d6f280e7b895df47f6a8606523712bd 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/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp index e48badba30f70600497e3034ff51b09fe4f079f8..3c8bdf9b09497c10d76af3b25f60786853dcec61 100644 --- a/src/processor/processor_tracker_gnss.cpp +++ b/src/processor/processor_tracker_gnss.cpp @@ -257,8 +257,8 @@ void ProcessorTrackerGnss::establishFactors() { WOLF_DEBUG("TDCP BATCH frame ", last_ptr_->getFrame()->id()); - for (auto KF_rit = getProblem()->getTrajectory()->getFrameList().rbegin(); - KF_rit != getProblem()->getTrajectory()->getFrameList().rend(); + for (auto KF_rit = getProblem()->getTrajectory()->rbegin(); + KF_rit != getProblem()->getTrajectory()->rend(); KF_rit++) { FrameBasePtr KF = (*KF_rit); diff --git a/test/gtest_factor_gnss_fix_2d.cpp b/test/gtest_factor_gnss_fix_2d.cpp index 1c048da6e7ed1860c94b98a667b7c3305cbc7cc7..401cd95f9b323146483990de071886a8c9be728d 100644 --- a/test/gtest_factor_gnss_fix_2d.cpp +++ b/test/gtest_factor_gnss_fix_2d.cpp @@ -113,7 +113,7 @@ 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 9c7f1e36bbe839e321214d0fbdd37e7aadb14cca..1f2ae8a11753e24140707f7dcebe849b73949405 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 90c5ab964207fccb52a3ed507f2dedf1487abe81..cd51ec56a04bfb97bb3ba42e6a3372b1ed4f0d9c 100644 --- a/test/gtest_factor_gnss_tdcp.cpp +++ b/test/gtest_factor_gnss_tdcp.cpp @@ -119,13 +119,13 @@ 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);