Follow core 302

include/laser/feature/feature_icp_align.h

@@ -2,9 +2,9 @@
 #define FEATURE_ICP_ALIGN_H_
 
 //Wolf includes
+#include <core/factor/factor_odom_2d.h>
 #include "core/common/wolf.h"
 #include "core/feature/feature_base.h"
-#include "core/factor/factor_odom_2d.h"
 #include "laser_scan_utils/icp.h"
 
 

include/laser/processor/processor_closeloop_icp.h

@@ -8,8 +8,8 @@
 #include <laser/capture/capture_laser_2d.h>
 
 #include <core/factor/factor_base.h>
+#include <core/factor/factor_loopclosure_2d.h>
 #include <core/feature/feature_base.h>
-#include <core/factor/factor_odom_2d_closeloop.h>
 #include <laser/feature/feature_icp_align.h>
 
 /**************************

src/processor/processor_closeloop_icp.cpp

@@ -243,7 +243,7 @@ CapturesAligned ProcessorCloseloopIcp::bestCandidate(std::map<double, CapturesAl
 FactorBasePtr ProcessorCloseloopIcp::emplaceFeatureAndFactor(CapturesAligned &_captures_aligned)
 {
     auto ftr = FeatureBase::emplace<FeatureICPAlign>(_captures_aligned.capture_own, _captures_aligned.align_result);
-    return FactorBase::emplace<FactorOdom2dCloseloop>(ftr, ftr, _captures_aligned.capture_other->getFrame(), shared_from_this(), params_->apply_loss_function);
+    return FactorBase::emplace<FactorLoopclosure2d>(ftr, ftr, _captures_aligned.capture_other->getFrame(), shared_from_this(), params_->apply_loss_function);
 }
 }
 // Register in the FactorySensor