compiling and tests ok

src/feature/feature_IMU.cpp

@@ -12,8 +12,6 @@ FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated,
     gyro_bias_preint_(_bias.tail<3>()),
     jacobian_bias_(_dD_db_jacobians)
 {
-    if (_cap_imu_ptr)
-        this->setCapture(_cap_imu_ptr);
 }
 
 FeatureIMU::FeatureIMU(CaptureMotionPtr _cap_imu_ptr):
@@ -22,7 +20,6 @@ FeatureIMU::FeatureIMU(CaptureMotionPtr _cap_imu_ptr):
         gyro_bias_preint_(_cap_imu_ptr->getCalibrationPreint().tail<3>()),
         jacobian_bias_(_cap_imu_ptr->getJacobianCalib())
 {
-    this->setCapture(_cap_imu_ptr);
 }
 
 FeatureIMU::~FeatureIMU()

test/gtest_feature_IMU.cpp

@@ -58,10 +58,15 @@ class FeatureIMU_test : public testing::Test
         MatrixXs P0; P0.setIdentity(9,9);
         origin_frame = problem->setPrior(x0, P0, 0.0, 0.01);
 
-    // Create one capture to store the IMU data arriving from (sensor / callback / file / etc.)
+    // 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
-        imu_ptr = std::make_shared<CaptureIMU>(t, sensor_ptr, data_, Eigen::Matrix6s::Identity(), Eigen::Vector6s::Zero());
-        imu_ptr->setFrame(origin_frame); //to get ptr to Frm in processorIMU and then get biases
+        imu_ptr = std::static_pointer_cast<CaptureIMU>(
+                CaptureBase::emplace<CaptureIMU>(origin_frame,
+                                                 t,
+                                                 sensor_ptr,
+                                                 data_,
+                                                 Eigen::Matrix6s::Identity(),
+                                                 Eigen::Vector6s::Zero()) );
 
     //process data
         data_ << 2, 0, 9.8, 0, 0, 0;
@@ -74,23 +79,23 @@ class FeatureIMU_test : public testing::Test
     // process data in capture
         sensor_ptr->process(imu_ptr);
 
-    //create Frame
+    //emplace Frame
         ts = problem->getProcessorMotion()->getBuffer().get().back().ts_;
         state_vec = problem->getProcessorMotion()->getCurrentState();
         last_frame = problem->emplaceFrame(KEY, state_vec, ts);
 
-    //create a feature
+    //emplace a feature
         delta_preint = problem->getProcessorMotion()->getMotion().delta_integr_;
         delta_preint_cov = problem->getProcessorMotion()->getMotion().delta_integr_cov_ + MatrixXs::Identity(9,9)*1e-08;
         VectorXs calib_preint = problem->getProcessorMotion()->getBuffer().getCalibrationPreint();
         dD_db_jacobians = problem->getProcessorMotion()->getMotion().jacobian_calib_;
-        feat_imu = std::make_shared<FeatureIMU>(delta_preint,
-                                                delta_preint_cov,
-                                                calib_preint,
-                                                dD_db_jacobians,
-                                                imu_ptr);
-        feat_imu->setCapture(imu_ptr); //associate the feature to a capture
-
+        feat_imu = std::static_pointer_cast<FeatureIMU>(
+                FeatureBase::emplace<FeatureIMU>(imu_ptr,
+                                                 delta_preint,
+                                                 delta_preint_cov,
+                                                 calib_preint,
+                                                 dD_db_jacobians,
+                                                 imu_ptr) );
     }
 
     virtual void TearDown()