Merge branch '14-adapt-to-std-set-and-std-map-instead-of-std-list-in-wolf-nodes' into devel

src/processor/processor_closeloop_icp.cpp

@@ -141,11 +141,11 @@ FrameBasePtrList ProcessorCloseloopIcp::selectCandidates(FrameBasePtr _keyframe_
 {
     FrameBasePtrList candidates;
     int key_frames_counter = 0;
-    const auto &frames = this->getProblem()->getTrajectory()->getFrameList();
+    const auto &trajectory = getProblem()->getTrajectory();
     //Consider only key_frames from 1 to n - match_past_key_frame_
     // std::copy_if(frames.begin(), frames.end(), std::back_inserter(candidates), [&](FrameBasePtr _frame) { if(_frame->isKey()) {key_frames_counter++; return (key_frames_counter % match_past_key_frame_ == 0);
     //                                                                                                                     }else{ return false;};});
-        for(auto it=frames.rbegin(); it != frames.rend(); it++){
+        for(auto it=trajectory->rbegin(); it != trajectory->rend(); it++){
             if((*it)->isKey()){
                 // WOLF_DEBUG("TIMESTAMP KEY FRAME ", (*it)->id(), " ", (*it)->getTimeStamp());
                 key_frames_counter++;

test/gtest_processor_odom_icp.cpp

@@ -125,7 +125,8 @@ TEST_F(ProcessorOdomIcp_Test, full)
         CaptureLaser2dPtr scan = std::make_shared<CaptureLaser2d>(t, lidar, ranges);
         scan->process();
 
-        F = problem->getLastFrame();
+        // F = problem->getLastFrame();
+        F = processor->getLast()->getFrame();
 
         ASSERT_MATRIX_APPROX(F->getState().vector("PO"), x0.vector("PO"), 1e-6);
 
@@ -158,7 +159,7 @@ TEST_F(ProcessorOdomIcp_Test, solve)
         t += 1.0;
     }
 
-    for (auto F : problem->getTrajectory()->getFrameList())
+    for (auto F : *problem->getTrajectory())
     {
         if (F->isKey())
             F->perturb(0.5);
@@ -167,7 +168,7 @@ TEST_F(ProcessorOdomIcp_Test, solve)
     std::string report =    solver->solve(SolverManager::ReportVerbosity::BRIEF);
     WOLF_TRACE(report);
 
-    for (auto F : problem->getTrajectory()->getFrameList())
+    for (auto F : *problem->getTrajectory())
     {
         if (F->isKey())
         {