Use align instead of matchPC

src/processor/processor_odom_icp.cpp

@@ -40,11 +40,11 @@ unsigned int ProcessorOdomICP::processKnown()
         CaptureLaser2DPtr origin_ptr    = std::static_pointer_cast<CaptureLaser2D>(origin_ptr_);
         CaptureLaser2DPtr incoming_ptr  = std::static_pointer_cast<CaptureLaser2D>(incoming_ptr_);
 
-        trf_origin_incoming_ = icp_tools_ptr_->matchPC(incoming_ptr->getScan(),
-                                                       origin_ptr->getScan(),
-                                                       this->laser_scan_params_,
-                                                       this->icp_params_,
-                                                       this->trf_origin_last_.res_transf); // Check order
+        trf_origin_incoming_ = icp_tools_ptr_->align(incoming_ptr->getScan(),
+                                                     origin_ptr->getScan(),
+                                                     this->laser_scan_params_,
+                                                     this->icp_params_,
+                                                     this->trf_origin_last_.res_transf); // Check order
     }
 
     return 0;
@@ -59,11 +59,11 @@ unsigned int ProcessorOdomICP::processNew(const int& _max_features)
     CaptureLaser2DPtr   incoming_ptr    = std::static_pointer_cast<CaptureLaser2D>(incoming_ptr_);
     CaptureLaser2DPtr   last_ptr        = std::static_pointer_cast<CaptureLaser2D>(last_ptr_);
 
-    trf_last_incoming_ =  icp_tools_ptr_->matchPC(incoming_ptr->getScan(),
-                                                  last_ptr->getScan(),
-                                                  this->laser_scan_params_,
-                                                  this->icp_params_,
-                                                  t_identity);
+    trf_last_incoming_ =  icp_tools_ptr_->align(incoming_ptr->getScan(),
+                                                last_ptr->getScan(),
+                                                this->laser_scan_params_,
+                                                this->icp_params_,
+                                                t_identity);
     return 0;
 }