From 2a4041e5a3e421c78abc7d17c7655feb8e46e63e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Sat, 19 Dec 2020 17:11:12 +0100 Subject: [PATCH] rename emplaceKeyFrame -> emplaceFrame --- test/gtest_feature_imu.cpp | 15 +++++++-------- test/gtest_imu.cpp | 2 +- 2 files changed, 8 insertions(+), 9 deletions(-) diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp index 916dc5c53..961485af1 100644 --- a/test/gtest_feature_imu.cpp +++ b/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 diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp index 6d51a5619..161157b8e 100644 --- a/test/gtest_imu.cpp +++ b/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); -- GitLab