rename emplaceKeyFrame -> emplaceFrame

test/gtest_feature_imu.cpp

@@ -84,20 +84,19 @@ class FeatureImu_test : public testing::Test
     //emplace Frame
         ts          = problem->getTimeStamp();
         state_vec   = problem->getState().vector(problem->getFrameStructure());
-        last_frame  = problem->emplaceKeyFrame(ts, state_vec);
+        last_frame  = problem->emplaceFrame(ts, state_vec);
 
     //emplace a feature
         delta_preint            = processor_motion_ptr_->getMotion().delta_integr_;
         delta_preint_cov        = processor_motion_ptr_->getMotion().delta_integr_cov_ + MatrixXd::Identity(9,9)*1e-08;
         VectorXd calib_preint   = processor_motion_ptr_->getLast()->getCalibrationPreint();
         dD_db_jacobians         = processor_motion_ptr_->getMotion().jacobian_calib_;
-        feat_imu                = std::static_pointer_cast<FeatureImu>(
-                FeatureBase::emplace<FeatureImu>(imu_ptr,
-                                                 delta_preint,
-                                                 delta_preint_cov,
-                                                 calib_preint,
-                                                 dD_db_jacobians,
-                                                 imu_ptr) );
+        feat_imu                = FeatureBase::emplace<FeatureImu>(imu_ptr,
+                                                                   delta_preint,
+                                                                   delta_preint_cov,
+                                                                   calib_preint,
+                                                                   dD_db_jacobians,
+                                                                   imu_ptr) ;
     }
 
     void TearDown() override

test/gtest_imu.cpp

@@ -502,7 +502,7 @@ class Process_Factor_Imu : public testing::Test
         virtual void buildProblem()
         {
             // ===================================== SET KF in Wolf tree
-            FrameBasePtr KF = problem->emplaceKeyFrame(t, x1_exact);
+            FrameBasePtr KF = problem->emplaceFrame(t, x1_exact);
 
             // ===================================== Imu CALLBACK
             problem->keyFrameCallback(KF, nullptr, dt/2);