Rename FactorOdom2dCloseloop -> FactorLoopclosure2d

CMakeLists.txt

@@ -221,9 +221,9 @@ SET(HDRS_FACTOR
   include/core/factor/factor_block_difference.h
   include/core/factor/factor_diff_drive.h
   include/core/factor/factor_distance_3d.h
+  include/core/factor/factor_loopclosure_2d.h
   include/core/factor/factor_odom_2d.h
   include/core/factor/factor_odom_2d_autodiff.h
-  include/core/factor/factor_odom_2d_closeloop.h
   include/core/factor/factor_odom_3d.h
   include/core/factor/factor_pose_2d.h
   include/core/factor/factor_pose_3d.h

include/core/factor/factor_odom_2d_closeloop.h → include/core/factor/factor_loopclosure_2d.h

-#ifndef FACTOR_ODOM_2d_CLOSELOOP_H_
-#define FACTOR_ODOM_2d_CLOSELOOP_H_
+#ifndef FACTOR_LOOPCLOSURE_2d_H_
+#define FACTOR_LOOPCLOSURE_2d_H_
 
 //Wolf includes
 #include "core/factor/factor_relative_pose_2d.h"
@@ -7,18 +7,18 @@
 
 namespace wolf {
     
-WOLF_PTR_TYPEDEFS(FactorOdom2dCloseloop);
+WOLF_PTR_TYPEDEFS(FactorLoopclosure2d);
 
 //class
-class FactorOdom2dCloseloop : public FactorRelativePose2d
+class FactorLoopclosure2d : public FactorRelativePose2d
 {
     public:
-        FactorOdom2dCloseloop(const FeatureBasePtr& _ftr_ptr,
+        FactorLoopclosure2d(const FeatureBasePtr& _ftr_ptr,
                              const FrameBasePtr& _frame_ptr,
                              const ProcessorBasePtr& _processor_ptr,
                              bool _apply_loss_function,
                              FactorStatus _status = FAC_ACTIVE) :
-            FactorRelativePose2d("FactorOdom2dCloseloop",
+            FactorRelativePose2d("FactorLoopclosure2d",
                                      _ftr_ptr,
                                      _frame_ptr,
                                      _processor_ptr,
@@ -28,7 +28,7 @@ class FactorOdom2dCloseloop : public FactorRelativePose2d
             //
         }
 
-        ~FactorOdom2dCloseloop() override = default;
+        ~FactorLoopclosure2d() override = default;
 
         std::string getTopology() const override
         {