rerane emplaceKeyFrame -> emplaceFrame. remove isKey()

gtest_factor_gnss_pseudo_range fails, but it failed already in core

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()->emplaceKeyFrame(incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceFrame(incoming_capture_->getTimeStamp());
         KF_created = true;
     }
     // OTHERWISE return

src/processor/processor_tracker_gnss.cpp

@@ -367,8 +367,7 @@ void ProcessorTrackerGnss::establishFactors()
                 WOLF_DEBUG("TDCP BATCH ref frame ", KF->id());
 
                 // discard non-key frames, last-last pair and frames without CaptureGnss
-                if (not KF->isKey() or
-                    KF == last_ptr_->getFrame() or
+                if (KF == last_ptr_->getFrame() or
                     KF->getCaptureOf(getSensor(),"CaptureGnss") == nullptr)
                     continue;
 

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->emplaceKeyFrame( TimeStamp(0), frame_pose);
+    frame_ptr = problem_ptr->emplaceFrame( TimeStamp(0), frame_pose);
     problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0);
 
     // Create & process GNSS Fix capture
@@ -122,7 +122,6 @@ TEST(FactorGnssFix2dTest, configure_tree)
 
     // Checks
     EXPECT_TRUE(problem_ptr->check(1));
-    EXPECT_TRUE(frame_ptr->isKey());
 }
 
 /*

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->emplaceKeyFrame( TimeStamp(0), frm_state);
+    frm = prb->emplaceFrame( TimeStamp(0), frm_state);
 
     // capture
     cap = CaptureBase::emplace<CaptureGnss>(frm, TimeStamp(0), gnss_sensor, nullptr);

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->emplaceKeyFrame( TimeStamp(0), frm_r_state);
+    frm_r = prb->emplaceFrame( 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->emplaceKeyFrame( TimeStamp(1), frm_k_state);
+    frm_k = prb->emplaceFrame( TimeStamp(1), frm_k_state);
 
     // capture r
     cap_r = CaptureBase::emplace<CaptureGnss>(frm_r, TimeStamp(0), gnss_sensor, nullptr);