diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index 5cf83d7d0356f27033e1d79fd3169798cc5f2883..916dc5c53d7064d1f4ca26bf941bb206fccd3c7a 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -84,7 +84,7 @@ class FeatureImu_test : public testing::Test
     //emplace Frame
         ts          = problem->getTimeStamp();
         state_vec   = problem->getState().vector(problem->getFrameStructure());
-        last_frame  = problem->emplaceFrame(KEY, ts, state_vec);
+        last_frame  = problem->emplaceKeyFrame(ts, state_vec);
 
     //emplace a feature
         delta_preint            = processor_motion_ptr_->getMotion().delta_integr_;
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index 08f6d459d444f992616b9a5daf56a85ee18d932d..6d51a5619ce1ff0615639be6d75ad3d7caf3089c 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->emplaceFrame(KEY, t, x1_exact);
+            FrameBasePtr KF = problem->emplaceKeyFrame(t, x1_exact);
 
             // ===================================== Imu CALLBACK
             problem->keyFrameCallback(KF, nullptr, dt/2);
@@ -512,7 +512,7 @@ class Process_Factor_Imu : public testing::Test
             capture_imu = make_shared<CaptureImu>(t+dt, sensor_imu, data, sensor_imu->getNoiseCov());
             sensor_imu->process(capture_imu);
 
-            KF_1 = problem->getLastKeyFrame();
+            KF_1 = problem->getLastFrame();
             C_1  = KF_1->getCaptureList().front(); // front is Imu
             CM_1 = static_pointer_cast<CaptureMotion>(C_1);
 
diff --git a/test/gtest_processor_imu.cpp b/test/gtest_processor_imu.cpp
index ad0faaf82d4d2ea9cd13a3c628ffe4d14c625a56..4099cf133f000dff71b7eb890c22a9c25c529605 100644
--- a/test/gtest_processor_imu.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -174,9 +174,8 @@ TEST(ProcessorImu, voteForKeyFrame)
     /*There should be 3 frames :
         - 1 KeyFrame at origin
         - 1 keyframe created by process() in voteForKeyFrame() since conditions to create a keyframe are met
-        - 1 frame that would be used by future data
     */
-    ASSERT_EQ(problem->getTrajectory()->getFrameList().size(),(unsigned int) 3);
+    ASSERT_EQ(problem->getTrajectory()->getFrameMap().size(),(unsigned int) 2);
 
     /* if max_time_span == 2,  Wolf tree should be