From 8aec136bce16076a62f01cbdfc6056e02b325afe Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Thu, 11 Jun 2020 11:35:03 +0200
Subject: [PATCH] Fix gtests

---
 test/gtest_feature_imu.cpp   | 4 ++--
 test/gtest_imu.cpp           | 2 +-
 test/gtest_processor_imu.cpp | 3 +--
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index a1e4a6efb..bc87d0be0 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -64,7 +64,7 @@ class FeatureImu_test : public testing::Test
                                      data_,
                                      Eigen::Matrix6d::Identity()*0.01,
                                      Eigen::Vector6d::Zero())->process();
-        origin_frame = problem->getTrajectory()->getFrameList().front();
+        origin_frame = problem->getTrajectory()->getFirstFrame();
 
     // Emplace one capture to store the Imu data arriving from (sensor / callback / file / etc.)
     // give the capture a big covariance, otherwise it will be so small that it won't pass following assertions
@@ -90,7 +90,7 @@ 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 7fcf66fc8..98695a245 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -503,7 +503,7 @@ 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);
diff --git a/test/gtest_processor_imu.cpp b/test/gtest_processor_imu.cpp
index ce1ea5060..d04e18cbc 100644
--- a/test/gtest_processor_imu.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -176,9 +176,8 @@ 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()->getFrameList().size(),(unsigned int) 2);
 
     /* if max_time_span == 2,  Wolf tree should be
 
-- 
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