diff --git a/CMakeLists.txt b/CMakeLists.txt
index b84a4aa218a28e25b767d517f055f0c901bf8e8d..976709646ff5d2d052630537fe6178a4251c1653 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -292,6 +292,7 @@ SET(HDRS_TREE_MANAGER
   include/core/tree_manager/factory_tree_manager.h
   include/core/tree_manager/tree_manager_base.h
   include/core/tree_manager/tree_manager_sliding_window.h
+  include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
   )
 SET(HDRS_YAML
   include/core/yaml/parser_yaml.h
@@ -381,6 +382,7 @@ SET(SRCS_SOLVER
   )
 SET(SRCS_TREE_MANAGER
   src/tree_manager/tree_manager_sliding_window.cpp
+  src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
   )
 SET(SRCS_YAML
   src/yaml/parser_yaml.cpp
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index 0ff5f31ed2734b7840518bf18dfc32073dac4cec..ce44fe003a8dfa58bb9a938e804af3e26fe576df 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -1,7 +1,7 @@
 #ifndef INCLUDE_TREE_MANAGER_SLIDING_WINDOW_H_
 #define INCLUDE_TREE_MANAGER_SLIDING_WINDOW_H_
 
-#include "../tree_manager/tree_manager_base.h"
+#include "core/tree_manager/tree_manager_base.h"
 
 namespace wolf
 {
@@ -15,20 +15,20 @@ struct ParamsTreeManagerSlidingWindow : public ParamsTreeManagerBase
         ParamsTreeManagerSlidingWindow(std::string _unique_name, const wolf::ParamsServer & _server) :
             ParamsTreeManagerBase(_unique_name, _server)
         {
-            n_key_frames                = _server.getParam<unsigned int>(prefix + "/n_key_frames");
-            fix_first_key_frame         = _server.getParam<bool>        (prefix + "/fix_first_key_frame");
+            n_frames                    = _server.getParam<unsigned int>(prefix + "/n_frames");
+            fix_first_frame             = _server.getParam<bool>        (prefix + "/fix_first_frame");
             viral_remove_empty_parent   = _server.getParam<bool>        (prefix + "/viral_remove_empty_parent");
         }
         std::string print() const
         {
             return "\n" + ParamsTreeManagerBase::print()                                            + "\n"
-                        + "n_key_frames: "              + std::to_string(n_key_frames)              + "\n"
-                        + "fix_first_key_frame: "       + std::to_string(fix_first_key_frame)       + "\n"
+                        + "n_frames: "                  + std::to_string(n_frames)                  + "\n"
+                        + "fix_first_frame: "           + std::to_string(fix_first_frame)           + "\n"
                         + "viral_remove_empty_parent: " + std::to_string(viral_remove_empty_parent) + "\n";
         }
 
-        unsigned int n_key_frames;
-        bool fix_first_key_frame;
+        unsigned int n_frames;
+        bool fix_first_frame;
         bool viral_remove_empty_parent;
 };
 
@@ -43,7 +43,7 @@ class TreeManagerSlidingWindow : public TreeManagerBase
 
         ~TreeManagerSlidingWindow() override{}
 
-        void keyFrameCallback(FrameBasePtr _key_frame) override;
+        void keyFrameCallback(FrameBasePtr _frame) override;
 
     protected:
         ParamsTreeManagerSlidingWindowPtr params_sw_;
diff --git a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
new file mode 100644
index 0000000000000000000000000000000000000000..e9fcbd1332fd2d4eca3f7afa04c2aee167ad1980
--- /dev/null
+++ b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
@@ -0,0 +1,51 @@
+#ifndef INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_
+#define INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_
+
+#include "core/tree_manager/tree_manager_sliding_window.h"
+
+namespace wolf
+{
+
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsTreeManagerSlidingWindowDualRate)
+WOLF_PTR_TYPEDEFS(TreeManagerSlidingWindowDualRate)
+
+struct ParamsTreeManagerSlidingWindowDualRate : public ParamsTreeManagerSlidingWindow
+{
+        ParamsTreeManagerSlidingWindowDualRate() = default;
+        ParamsTreeManagerSlidingWindowDualRate(std::string _unique_name, const wolf::ParamsServer & _server) :
+            ParamsTreeManagerSlidingWindow(_unique_name, _server)
+        {
+            n_frames_recent = _server.getParam<unsigned int>(prefix + "/n_frames_recent");
+            assert(n_frames_recent <= n_frames);
+            rate_old_frames = _server.getParam<unsigned int>(prefix + "/rate_old_frames");
+        }
+        std::string print() const
+        {
+            return "\n" + ParamsTreeManagerBase::print()                            + "\n"
+                        + "n_frames_recent: "   + std::to_string(n_frames_recent)   + "\n"
+                        + "rate_old_frames: "   + std::to_string(rate_old_frames)   + "\n";
+        }
+
+        unsigned int n_frames_recent, rate_old_frames;
+};
+
+class TreeManagerSlidingWindowDualRate : public TreeManagerSlidingWindow
+{
+    public:
+        TreeManagerSlidingWindowDualRate(ParamsTreeManagerSlidingWindowDualRatePtr _params);
+        ;
+        WOLF_TREE_MANAGER_CREATE(TreeManagerSlidingWindowDualRate, ParamsTreeManagerSlidingWindowDualRate)
+
+        ~TreeManagerSlidingWindowDualRate() override{}
+
+        void keyFrameCallback(FrameBasePtr _key_frame) override;
+
+    protected:
+        ParamsTreeManagerSlidingWindowDualRatePtr params_swdr_;
+        unsigned int count_frames_;
+        //TrajectoryIter first_recent_frame_it_;
+};
+
+} /* namespace wolf */
+
+#endif /* INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_ */
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 3a770b6f10dac4cfd05494725674b32c1f783eea..d18ae7c312f4e19a98ed1ae9522b2b06aad2fd41 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -65,7 +65,6 @@ void ProcessorMotion::mergeCaptures(CaptureMotionConstPtr cap_prev,
     cap_target->getBuffer().insert(cap_target->getBuffer().begin(),
                                    cap_prev->getBuffer().begin(),
                                    cap_prev->getBuffer().end());
-    cap_target->getBuffer().print();
 
     // change origin
     cap_target->setOriginCapture(cap_prev->getOriginCapture());
diff --git a/src/tree_manager/tree_manager_sliding_window.cpp b/src/tree_manager/tree_manager_sliding_window.cpp
index 623c7bec91214b55f7d2d8f2034dbba3e01c5ccb..3c64b2ee87d2e26318788c4eddd547606edb6cb0 100644
--- a/src/tree_manager/tree_manager_sliding_window.cpp
+++ b/src/tree_manager/tree_manager_sliding_window.cpp
@@ -3,32 +3,22 @@
 namespace wolf
 {
 
-void TreeManagerSlidingWindow::keyFrameCallback(FrameBasePtr _key_frame)
+void TreeManagerSlidingWindow::keyFrameCallback(FrameBasePtr _frame)
 {
-    int n_kf(0);
-    FrameBasePtr first_KF(nullptr), second_KF(nullptr);
-    for (auto frm : *getProblem()->getTrajectory())
-    {
-        if (frm->isKey())
-        {
-            n_kf++;
-            if (first_KF == nullptr)
-                first_KF = frm;
-            else if (second_KF == nullptr)
-                second_KF = frm;
-        }
-    }
+    int n_f = getProblem()->getTrajectory()->getFrameMap().size(); // in trajectory there are only key frames
 
-    // remove first KF if too many KF
-    if (n_kf > params_sw_->n_key_frames)
+    // remove first frame if too many frames
+    if (n_f > params_sw_->n_frames)
     {
-        WOLF_DEBUG("TreeManagerSlidingWindow removing first frame");
-        first_KF->remove(params_sw_->viral_remove_empty_parent);
-        if (params_sw_->fix_first_key_frame)
+        if (params_sw_->fix_first_frame)
         {
             WOLF_DEBUG("TreeManagerSlidingWindow fixing new first frame");
-            second_KF->fix();
+            auto second_frame = std::next(getProblem()->getTrajectory()->begin())->second;
+            if (second_frame)
+                second_frame->fix();
         }
+        WOLF_DEBUG("TreeManagerSlidingWindow removing first frame");
+        getProblem()->getTrajectory()->getFirstFrame()->remove(params_sw_->viral_remove_empty_parent);
     }
 }
 
diff --git a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2009cd89edf486af2efa892f58615a1e0fa05b0f
--- /dev/null
+++ b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
@@ -0,0 +1,86 @@
+#include "core/tree_manager/tree_manager_sliding_window_dual_rate.h"
+#include "core/capture/capture_motion.h"
+#include "core/processor/processor_motion.h"
+
+namespace wolf
+{
+
+TreeManagerSlidingWindowDualRate::TreeManagerSlidingWindowDualRate(ParamsTreeManagerSlidingWindowDualRatePtr _params) :
+        TreeManagerSlidingWindow(_params),
+        params_swdr_(_params),
+        count_frames_(0)
+{
+    NodeBase::setType("TreeManagerSlidingWindowDualRate");
+}
+
+void TreeManagerSlidingWindowDualRate::keyFrameCallback(FrameBasePtr _key_frame)
+{
+    int n_f = getProblem()->getTrajectory()->getFrameMap().size(); // in trajectory there are only key frames
+
+    // recent segment not complete
+    if (n_f <= params_swdr_->n_frames_recent)
+        return;
+
+
+    // REMOVE FIRST RECENT FRAME: all recent frames except one of each rate_old_frames
+    if (count_frames_ != 0)
+    {
+        WOLF_DEBUG("TreeManagerSlidingWindow removing the oldest of recent frames");
+        FrameBasePtr remove_recent_frame    = std::next(getProblem()->getTrajectory()->rbegin(),
+                                                        params_swdr_->n_frames_recent)->second;
+        FrameBasePtr keep_recent_frame      = std::next(getProblem()->getTrajectory()->rbegin(),
+                                                        params_swdr_->n_frames_recent - 1)->second;
+
+        // compose motion captures for all processors motion
+        for (auto is_motion : getProblem()->getProcessorIsMotionList())
+        {
+            auto proc_motion = std::dynamic_pointer_cast<ProcessorMotion>(is_motion);
+            if (proc_motion == nullptr)
+                continue;
+
+            auto cap_prev = std::static_pointer_cast<CaptureMotion>(remove_recent_frame->getCaptureOf(proc_motion->getSensor()));
+            auto cap_next = std::static_pointer_cast<CaptureMotion>(keep_recent_frame->getCaptureOf(proc_motion->getSensor()));
+
+            // merge captures (if exist)
+            if (cap_prev and cap_next)
+            {
+                WOLF_DEBUG("TreeManagerSlidingWindow merging capture ", cap_prev->id(), " with ", cap_next->id());
+                assert(cap_next->getOriginCapture() == cap_prev);
+                proc_motion->mergeCaptures(cap_prev, cap_next);
+            }
+
+        }
+
+        // remove frame
+        remove_recent_frame->remove(params_swdr_->viral_remove_empty_parent);
+    }
+    // REMOVE OLDEST FRAME: when first recent frame is kept, remove oldest frame (if max frames reached)
+    else if (n_f > params_swdr_->n_frames)
+    {
+        if (params_swdr_->fix_first_frame)
+        {
+            WOLF_DEBUG("TreeManagerSlidingWindow fixing new first frame");
+            auto second_frame = *std::next(getProblem()->getTrajectory()->begin());
+            if (second_frame)
+                second_frame->fix();
+        }
+        WOLF_DEBUG("TreeManagerSlidingWindow removing first frame");
+        getProblem()->getTrajectory()->getFirstFrame()->remove(params_swdr_->viral_remove_empty_parent);
+    }
+
+    // iterate counter
+    count_frames_++;
+    if (count_frames_ == params_swdr_->rate_old_frames)
+        count_frames_ = 0;
+}
+
+
+} /* namespace wolf */
+
+// Register in the FactoryTreeManager
+#include "core/tree_manager/factory_tree_manager.h"
+namespace wolf {
+WOLF_REGISTER_TREE_MANAGER(TreeManagerSlidingWindowDualRate);
+WOLF_REGISTER_TREE_MANAGER_AUTO(TreeManagerSlidingWindowDualRate);
+} // namespace wolf
+
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index b05f5636dd989dc18fed2a63d8b4b92047cffa55..4363e38a4d4df67a73ce92086b7a3ae071c4a561 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -267,6 +267,10 @@ ENDIF(Ceres_FOUND)
 wolf_add_gtest(gtest_tree_manager_sliding_window gtest_tree_manager_sliding_window.cpp)
 target_link_libraries(gtest_tree_manager_sliding_window ${PLUGIN_NAME})
 
+# TreeManagerSlidingWindowDualRate class test
+wolf_add_gtest(gtest_tree_manager_sliding_window_dual_rate gtest_tree_manager_sliding_window_dual_rate.cpp)
+target_link_libraries(gtest_tree_manager_sliding_window_dual_rate ${PLUGIN_NAME})
+
 # yaml conversions
 wolf_add_gtest(gtest_yaml_conversions gtest_yaml_conversions.cpp)
 target_link_libraries(gtest_yaml_conversions ${PLUGIN_NAME})
diff --git a/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index b8ff8240e7e2c7e97fb4f56aeadb72d2b51a0027..0c5e7c2aec97277425289f3f28a9ba3d61dece1c 100644
--- a/test/gtest_tree_manager_sliding_window.cpp
+++ b/test/gtest_tree_manager_sliding_window.cpp
@@ -24,7 +24,7 @@ TEST(TreeManagerSlidingWindow, make_shared)
 
     P->setTreeManager(GM);
 
-    ASSERT_EQ(P->getTreeManager(), GM);
+    EXPECT_EQ(P->getTreeManager(), GM);
 }
 
 TEST(TreeManagerSlidingWindow, createParams)
@@ -35,12 +35,12 @@ TEST(TreeManagerSlidingWindow, createParams)
 
     auto GM = TreeManagerSlidingWindow::create("tree_manager", ParamsGM);
 
-    ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(GM) != nullptr);
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(GM) != nullptr);
 
     P->setTreeManager(GM);
 
-    ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
-    ASSERT_EQ(P->getTreeManager(), GM);
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
+    EXPECT_EQ(P->getTreeManager(), GM);
 }
 
 TEST(TreeManagerSlidingWindow, createParamServer)
@@ -52,12 +52,12 @@ TEST(TreeManagerSlidingWindow, createParamServer)
 
     auto GM = TreeManagerSlidingWindow::create("tree_manager", server);
 
-    ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(GM) != nullptr);
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(GM) != nullptr);
 
     P->setTreeManager(GM);
 
-    ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
-    ASSERT_EQ(P->getTreeManager(), GM);
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
+    EXPECT_EQ(P->getTreeManager(), GM);
 }
 
 TEST(TreeManagerSlidingWindow, autoConf)
@@ -67,7 +67,7 @@ TEST(TreeManagerSlidingWindow, autoConf)
 
     ProblemPtr P = Problem::autoSetup(server);
 
-    ASSERT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(P->getTreeManager()) != nullptr);
 }
 
 TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
@@ -80,7 +80,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
 
     // FRAME 1 ----------------------------------------------------------
     auto F1 = P->getTrajectory()->getLastFrame();
-    ASSERT_TRUE(F1 != nullptr);
+    EXPECT_TRUE(F1 != nullptr);
 
     Vector7d state = F1->getStateVector();
     Vector7d zero_disp(state);
@@ -100,7 +100,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
     auto c12 = FactorBase::emplace<FactorOdom3d>(f12, f12, F1, nullptr, false);
 
     // Check no frame removed
-    ASSERT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(F1->isRemoving());
 
     // FRAME 3 ----------------------------------------------------------
     auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3,    state);
@@ -116,7 +116,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
     auto c23 = FactorBase::emplace<FactorOdom3d>(f23, f23, F2, nullptr, false);
 
     // Check no frame removed
-    ASSERT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(F1->isRemoving());
 
     // FRAME 4 ----------------------------------------------------------
     auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3,    state);
@@ -132,11 +132,11 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
     auto c34 = FactorBase::emplace<FactorOdom3d>(f34, f34, F3, nullptr, false);
 
     // Checks
-    ASSERT_TRUE(F1->isRemoving());
-    ASSERT_TRUE(c12->isRemoving());
-    ASSERT_TRUE(C12->isRemoving()); //Virally removed
-    ASSERT_TRUE(f12->isRemoving()); //Virally removed
-    ASSERT_TRUE(F2->isFixed()); //Fixed
+    EXPECT_TRUE(F1->isRemoving());
+    EXPECT_TRUE(c12->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C12->isRemoving()); // Virally removed
+    EXPECT_TRUE(f12->isRemoving()); // Virally removed
+    EXPECT_TRUE(F2->isFixed()); //Fixed
 
     // FRAME 5 ----------------------------------------------------------
     auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3,    state);
@@ -152,18 +152,19 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
     auto c45 = FactorBase::emplace<FactorOdom3d>(f45, f45, F4, nullptr, false);
 
     // Checks
-    ASSERT_TRUE(F1->isRemoving());
-    ASSERT_TRUE(c12->isRemoving());
-    ASSERT_TRUE(C12->isRemoving()); //Virally removed
-    ASSERT_TRUE(f12->isRemoving()); //Virally removed
-    ASSERT_TRUE(F2->isRemoving());
-    ASSERT_TRUE(c2->isRemoving());
-    ASSERT_TRUE(C2->isRemoving()); //Virally removed
-    ASSERT_TRUE(f2->isRemoving()); //Virally removed
-    ASSERT_TRUE(c23->isRemoving());
-    ASSERT_TRUE(C23->isRemoving()); //Virally removed
-    ASSERT_TRUE(f23->isRemoving()); //Virally removed
-    ASSERT_TRUE(F3->isFixed()); //Fixed
+    EXPECT_TRUE(F1->isRemoving());
+    EXPECT_TRUE(c12->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C12->isRemoving()); // Virally removed
+    EXPECT_TRUE(f12->isRemoving()); // Virally removed
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C2->isRemoving()); // Virally removed
+    EXPECT_TRUE(f2->isRemoving()); // Virally removed
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C23->isRemoving()); // Virally removed
+    EXPECT_TRUE(f23->isRemoving()); // Virally removed
+
+    EXPECT_TRUE(F3->isFixed()); //Fixed
 }
 
 TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
@@ -176,7 +177,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
 
     // FRAME 1 (prior) ----------------------------------------------------------
     auto F1 = P->getTrajectory()->getLastFrame();
-    ASSERT_TRUE(F1 != nullptr);
+    EXPECT_TRUE(F1 != nullptr);
 
     Vector7d state = F1->getStateVector();
     Vector7d zero_disp(state);
@@ -196,7 +197,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
     auto c12 = FactorBase::emplace<FactorOdom3d>(f12, f12, F1, nullptr, false);
 
     // Check no frame removed
-    ASSERT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(F1->isRemoving());
 
     // FRAME 3 ----------------------------------------------------------
     auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3,    state);
@@ -212,7 +213,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
     auto c23 = FactorBase::emplace<FactorOdom3d>(f23, f23, F2, nullptr, false);
 
     // Check no frame removed
-    ASSERT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(F1->isRemoving());
 
     // FRAME 4 ----------------------------------------------------------
     auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3,    state);
@@ -228,11 +229,11 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
     auto c34 = FactorBase::emplace<FactorOdom3d>(f34, f34, F3, nullptr, false);
 
     // Checks
-    ASSERT_TRUE(F1->isRemoving());
-    ASSERT_TRUE(c12->isRemoving());
-    ASSERT_FALSE(C12->isRemoving()); //Not virally removed
-    ASSERT_FALSE(f12->isRemoving()); //Not virally removed
-    ASSERT_FALSE(F2->isFixed()); //Not fixed
+    EXPECT_TRUE(F1->isRemoving());
+    EXPECT_TRUE(c12->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_FALSE(C12->isRemoving()); //Not virally removed
+    EXPECT_FALSE(f12->isRemoving()); //Not virally removed
+    EXPECT_FALSE(F2->isFixed()); //Not fixed
 
     // FRAME 5 ----------------------------------------------------------
     auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3,    state);
@@ -248,18 +249,18 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
     auto c45 = FactorBase::emplace<FactorOdom3d>(f45, f45, F4, nullptr, false);
 
     // Checks
-    ASSERT_TRUE(F1->isRemoving());
-    ASSERT_TRUE(c12->isRemoving());
-    ASSERT_TRUE(C12->isRemoving());
-    ASSERT_TRUE(f12->isRemoving());
-    ASSERT_TRUE(F2->isRemoving());
-    ASSERT_TRUE(c2->isRemoving());
-    ASSERT_TRUE(C2->isRemoving());
-    ASSERT_TRUE(f2->isRemoving());
-    ASSERT_TRUE(c23->isRemoving());
-    ASSERT_FALSE(C23->isRemoving()); //Not virally removed
-    ASSERT_FALSE(f23->isRemoving()); //Not virally removed
-    ASSERT_FALSE(F3->isFixed()); //Not fixed
+    EXPECT_TRUE(F1->isRemoving());
+    EXPECT_TRUE(c12->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_FALSE(C23->isRemoving()); //Not virally removed
+    EXPECT_FALSE(f23->isRemoving()); //Not virally removed
+    EXPECT_FALSE(F3->isFixed()); //Not fixed
 }
 
 int main(int argc, char **argv)
diff --git a/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ae4112bc3c27d88e103694ffd0824f4b7b35de2d
--- /dev/null
+++ b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
@@ -0,0 +1,1066 @@
+#include "core/utils/utils_gtest.h"
+
+
+#include "core/problem/problem.h"
+#include "core/tree_manager/tree_manager_sliding_window_dual_rate.h"
+#include "core/yaml/parser_yaml.h"
+#include "core/capture/capture_void.h"
+#include "core/capture/capture_odom_3d.h"
+#include "core/feature/feature_base.h"
+#include "core/factor/factor_odom_3d.h"
+#include "core/factor/factor_pose_3d.h"
+#include "core/solver/factory_solver.h"
+
+using namespace wolf;
+using namespace Eigen;
+
+std::string wolf_root = _WOLF_ROOT_DIR;
+
+TEST(TreeManagerSlidingWindowDualRate, make_shared)
+{
+    ProblemPtr P = Problem::create("PO", 2);
+
+    auto ParamsGM = std::make_shared<ParamsTreeManagerSlidingWindowDualRate>();
+
+    auto GM = std::make_shared<TreeManagerSlidingWindowDualRate>(ParamsGM);
+
+    P->setTreeManager(GM);
+
+    EXPECT_EQ(P->getTreeManager(), GM);
+}
+
+TEST(TreeManagerSlidingWindowDualRate, createParams)
+{
+    ProblemPtr P = Problem::create("PO", 2);
+
+    auto ParamsGM = std::make_shared<ParamsTreeManagerSlidingWindowDualRate>();
+
+    auto GM = TreeManagerSlidingWindowDualRate::create("tree_manager", ParamsGM);
+
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindowDualRate>(GM) != nullptr);
+
+    P->setTreeManager(GM);
+
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindowDualRate>(P->getTreeManager()) != nullptr);
+    EXPECT_EQ(P->getTreeManager(), GM);
+}
+
+TEST(TreeManagerSlidingWindowDualRate, createParamServer)
+{
+    ProblemPtr P = Problem::create("PO", 2);
+
+    ParserYaml parser = ParserYaml("test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml", wolf_root);
+    ParamsServer server = ParamsServer(parser.getParams());
+
+    auto GM = TreeManagerSlidingWindowDualRate::create("tree_manager", server);
+
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindowDualRate>(GM) != nullptr);
+
+    P->setTreeManager(GM);
+
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindowDualRate>(P->getTreeManager()) != nullptr);
+    EXPECT_EQ(P->getTreeManager(), GM);
+}
+
+TEST(TreeManagerSlidingWindowDualRate, autoConf)
+{
+    ParserYaml parser = ParserYaml("test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml", wolf_root);
+    ParamsServer server = ParamsServer(parser.getParams());
+
+    ProblemPtr P = Problem::autoSetup(server);
+
+    EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindowDualRate>(P->getTreeManager()) != nullptr);
+}
+
+TEST(TreeManagerSlidingWindowDualRate, slidingWindowFixViral)
+{
+    /* sliding window dual rate:
+     *     n_frames: 5
+     *     n_frames_recent: 3
+     *     rate_old_frames: 2
+     */
+
+    ParserYaml parser = ParserYaml("test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml", wolf_root);
+    ParamsServer server = ParamsServer(parser.getParams());
+
+    ProblemPtr P = Problem::autoSetup(server);
+    P->applyPriorOptions(0);
+
+    /* FRAME 1 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (  )   (  )(  )(F1)
+     */
+    auto F1 = P->getTrajectory()->getLastFrame();
+    ASSERT_TRUE(F1 != nullptr);
+    ASSERT_FALSE(F1->getCaptureList().empty());
+    auto C1 = F1->getCaptureList().front();
+    ASSERT_FALSE(C1->getFeatureList().empty());
+    auto f1 = C1->getFeatureList().front();
+    ASSERT_FALSE(f1->getFactorList().empty());
+    auto c1 = f1->getFactorList().front();
+
+    Vector7d state = F1->getStateVector();
+    Vector7d zero_disp(state);
+    Matrix6d cov = Matrix6d::Identity();
+
+    // Check no frame removed
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+
+    /* FRAME 2 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (  )   (  )(F1)(F2)
+     */
+    auto F2 = P->emplaceKeyFrame(TimeStamp(2), "PO", 3, state);
+    P->keyFrameCallback(F2, nullptr, 0);
+
+    // absolute factor
+    auto C2 = CaptureBase::emplace<CaptureVoid>(F2, TimeStamp(2), nullptr);
+    auto f2 = FeatureBase::emplace<FeatureBase>(C2, "absolute", state, cov);
+    auto c2 = FactorBase::emplace<FactorPose3d>(f2, f2, nullptr, false);
+    // displacement
+    auto C12 = CaptureBase::emplace<CaptureVoid>(F2, TimeStamp(2), nullptr);
+    auto f12 = FeatureBase::emplace<FeatureBase>(C12, "odom", zero_disp, cov);
+    auto c12 = FactorBase::emplace<FactorOdom3d>(f12, f12, F1, nullptr, false);
+
+    // Check no frame removed
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_FALSE(F2->isRemoving());
+    EXPECT_FALSE(c2->isRemoving());
+    EXPECT_FALSE(C2->isRemoving());
+    EXPECT_FALSE(f2->isRemoving());
+    EXPECT_FALSE(c12->isRemoving());
+    EXPECT_FALSE(C12->isRemoving());
+    EXPECT_FALSE(f12->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F2->isFixed());
+
+    /* FRAME 3 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (  )   (F1)(F2)(F3)
+     */
+    auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3,    state);
+    P->keyFrameCallback(F3, nullptr, 0);
+
+    // absolute factor
+    auto C3 = CaptureBase::emplace<CaptureVoid>(F3, TimeStamp(3), nullptr);
+    auto f3 = FeatureBase::emplace<FeatureBase>(C3, "absolute", state, cov);
+    auto c3 = FactorBase::emplace<FactorPose3d>(f3, f3, nullptr, false);
+    // displacement
+    auto C23 = CaptureBase::emplace<CaptureVoid>(F3, TimeStamp(3), nullptr);
+    auto f23 = FeatureBase::emplace<FeatureBase>(C23, "odom", zero_disp, cov);
+    auto c23 = FactorBase::emplace<FactorOdom3d>(f23, f23, F2, nullptr, false);
+
+    // Check no frame removed
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_FALSE(F2->isRemoving());
+    EXPECT_FALSE(c2->isRemoving());
+    EXPECT_FALSE(C2->isRemoving());
+    EXPECT_FALSE(f2->isRemoving());
+    EXPECT_FALSE(c12->isRemoving());
+    EXPECT_FALSE(C12->isRemoving());
+    EXPECT_FALSE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_FALSE(c23->isRemoving());
+    EXPECT_FALSE(C23->isRemoving());
+    EXPECT_FALSE(f23->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F2->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+
+    /* FRAME 4 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (F1)(F2)(F3)(F4)
+     */
+    auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3,    state);
+    P->keyFrameCallback(F4, nullptr, 0);
+
+    // absolute factor
+    auto C4 = CaptureBase::emplace<CaptureVoid>(F4, TimeStamp(4), nullptr);
+    auto f4 = FeatureBase::emplace<FeatureBase>(C4, "absolute", state, cov);
+    auto c4 = FactorBase::emplace<FactorPose3d>(f4, f4, nullptr, false);
+    // displacement
+    auto C34 = CaptureBase::emplace<CaptureVoid>(F4, TimeStamp(4), nullptr);
+    auto f34 = FeatureBase::emplace<FeatureBase>(C34, "odom", zero_disp, cov);
+    auto c34 = FactorBase::emplace<FactorOdom3d>(f34, f34, F3, nullptr, false);
+
+    // Checks
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_FALSE(F2->isRemoving());
+    EXPECT_FALSE(c2->isRemoving());
+    EXPECT_FALSE(C2->isRemoving());
+    EXPECT_FALSE(f2->isRemoving());
+    EXPECT_FALSE(c12->isRemoving());
+    EXPECT_FALSE(C12->isRemoving());
+    EXPECT_FALSE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_FALSE(c23->isRemoving());
+    EXPECT_FALSE(C23->isRemoving());
+    EXPECT_FALSE(f23->isRemoving());
+
+    EXPECT_FALSE(F4->isRemoving());
+    EXPECT_FALSE(c4->isRemoving());
+    EXPECT_FALSE(C4->isRemoving());
+    EXPECT_FALSE(f4->isRemoving());
+    EXPECT_FALSE(c34->isRemoving());
+    EXPECT_FALSE(C34->isRemoving());
+    EXPECT_FALSE(f34->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F2->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F4->isFixed());
+
+    /* FRAME 5 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (F1)   (F3)(F4)(F5)
+     */
+    auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3,    state);
+    P->keyFrameCallback(F5, nullptr, 0);
+
+    // absolute factor
+    auto C5 = CaptureBase::emplace<CaptureVoid>(F5, TimeStamp(5), nullptr);
+    auto f5 = FeatureBase::emplace<FeatureBase>(C5, "absolute", state, cov);
+    auto c5 = FactorBase::emplace<FactorPose3d>(f5, f5, nullptr, false);
+    // displacement
+    auto C45 = CaptureBase::emplace<CaptureVoid>(F5, TimeStamp(5), nullptr);
+    auto f45 = FeatureBase::emplace<FeatureBase>(C45, "odom", zero_disp, cov);
+    auto c45 = FactorBase::emplace<FactorOdom3d>(f45, f45, F4, nullptr, false);
+
+    // Checks
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c12->isRemoving());
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C23->isRemoving()); // Virally removed
+    EXPECT_TRUE(f23->isRemoving()); // Virally removed
+
+    EXPECT_FALSE(F4->isRemoving());
+    EXPECT_FALSE(c4->isRemoving());
+    EXPECT_FALSE(C4->isRemoving());
+    EXPECT_FALSE(f4->isRemoving());
+    EXPECT_FALSE(c34->isRemoving());
+    EXPECT_FALSE(C34->isRemoving());
+    EXPECT_FALSE(f34->isRemoving());
+
+    EXPECT_FALSE(F5->isRemoving());
+    EXPECT_FALSE(c5->isRemoving());
+    EXPECT_FALSE(C5->isRemoving());
+    EXPECT_FALSE(f5->isRemoving());
+    EXPECT_FALSE(c45->isRemoving());
+    EXPECT_FALSE(C45->isRemoving());
+    EXPECT_FALSE(f45->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F4->isFixed());
+    EXPECT_FALSE(F5->isFixed());
+
+    /* FRAME 6 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (F1)   (F3)(F4)(F5)(F6)
+     */
+    auto F6 = P->emplaceKeyFrame(TimeStamp(6), "PO", 3,    state);
+    P->keyFrameCallback(F6, nullptr, 0);
+
+    // absolute factor
+    auto C6 = CaptureBase::emplace<CaptureVoid>(F6, TimeStamp(6), nullptr);
+    auto f6 = FeatureBase::emplace<FeatureBase>(C6, "absolute", state, cov);
+    auto c6 = FactorBase::emplace<FactorPose3d>(f6, f6, nullptr, false);
+    // displacement
+    auto C56 = CaptureBase::emplace<CaptureVoid>(F6, TimeStamp(6), nullptr);
+    auto f56 = FeatureBase::emplace<FeatureBase>(C56, "odom", zero_disp, cov);
+    auto c56 = FactorBase::emplace<FactorOdom3d>(f56, f56, F5, nullptr, false);
+
+    // Checks
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c12->isRemoving());
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C23->isRemoving()); // Virally removed
+    EXPECT_TRUE(f23->isRemoving()); // Virally removed
+
+    EXPECT_FALSE(F4->isRemoving());
+    EXPECT_FALSE(c4->isRemoving());
+    EXPECT_FALSE(C4->isRemoving());
+    EXPECT_FALSE(f4->isRemoving());
+    EXPECT_FALSE(c34->isRemoving());
+    EXPECT_FALSE(C34->isRemoving());
+    EXPECT_FALSE(f34->isRemoving());
+
+    EXPECT_FALSE(F5->isRemoving());
+    EXPECT_FALSE(c5->isRemoving());
+    EXPECT_FALSE(C5->isRemoving());
+    EXPECT_FALSE(f5->isRemoving());
+    EXPECT_FALSE(c45->isRemoving());
+    EXPECT_FALSE(C45->isRemoving());
+    EXPECT_FALSE(f45->isRemoving());
+
+    EXPECT_FALSE(F6->isRemoving());
+    EXPECT_FALSE(c6->isRemoving());
+    EXPECT_FALSE(C6->isRemoving());
+    EXPECT_FALSE(f6->isRemoving());
+    EXPECT_FALSE(c56->isRemoving());
+    EXPECT_FALSE(C56->isRemoving());
+    EXPECT_FALSE(f56->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F4->isFixed());
+    EXPECT_FALSE(F5->isFixed());
+    EXPECT_FALSE(F6->isFixed());
+
+    /* FRAME 7 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (F1)   (F3)   (F5)(F6)(F7)
+     */
+    auto F7 = P->emplaceKeyFrame(TimeStamp(7), "PO", 3,    state);
+    P->keyFrameCallback(F7, nullptr, 0);
+
+    // absolute factor
+    auto C7 = CaptureBase::emplace<CaptureVoid>(F7, TimeStamp(7), nullptr);
+    auto f7 = FeatureBase::emplace<FeatureBase>(C7, "absolute", state, cov);
+    auto c7 = FactorBase::emplace<FactorPose3d>(f7, f7, nullptr, false);
+    // displacement
+    auto C67 = CaptureBase::emplace<CaptureVoid>(F7, TimeStamp(7), nullptr);
+    auto f67 = FeatureBase::emplace<FeatureBase>(C67, "odom", zero_disp, cov);
+    auto c67 = FactorBase::emplace<FactorOdom3d>(f67, f67, F6, nullptr, false);
+
+    // Checks
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c12->isRemoving());
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C23->isRemoving()); // Virally removed
+    EXPECT_TRUE(f23->isRemoving()); // Virally removed
+
+    EXPECT_TRUE(F4->isRemoving());
+    EXPECT_TRUE(c4->isRemoving());
+    EXPECT_TRUE(C4->isRemoving());
+    EXPECT_TRUE(f4->isRemoving());
+    EXPECT_TRUE(c34->isRemoving());
+    EXPECT_TRUE(C34->isRemoving());
+    EXPECT_TRUE(f34->isRemoving());
+
+    EXPECT_FALSE(F5->isRemoving());
+    EXPECT_FALSE(c5->isRemoving());
+    EXPECT_FALSE(C5->isRemoving());
+    EXPECT_FALSE(f5->isRemoving());
+    EXPECT_TRUE(c45->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C45->isRemoving()); // Virally removed
+    EXPECT_TRUE(f45->isRemoving()); // Virally removed
+
+    EXPECT_FALSE(F6->isRemoving());
+    EXPECT_FALSE(c6->isRemoving());
+    EXPECT_FALSE(C6->isRemoving());
+    EXPECT_FALSE(f6->isRemoving());
+    EXPECT_FALSE(c56->isRemoving());
+    EXPECT_FALSE(C56->isRemoving());
+    EXPECT_FALSE(f56->isRemoving());
+
+    EXPECT_FALSE(F7->isRemoving());
+    EXPECT_FALSE(c7->isRemoving());
+    EXPECT_FALSE(C7->isRemoving());
+    EXPECT_FALSE(f7->isRemoving());
+    EXPECT_FALSE(c67->isRemoving());
+    EXPECT_FALSE(C67->isRemoving());
+    EXPECT_FALSE(f67->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F5->isFixed());
+    EXPECT_FALSE(F6->isFixed());
+    EXPECT_FALSE(F7->isFixed());
+
+    /* FRAME 8 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (F3)   (F5)(F6)(F7)(F8)
+     */
+    auto F8 = P->emplaceKeyFrame(TimeStamp(8), "PO", 3,    state);
+    P->keyFrameCallback(F8, nullptr, 0);
+
+    // absolute factor
+    auto C8 = CaptureBase::emplace<CaptureVoid>(F8, TimeStamp(8), nullptr);
+    auto f8 = FeatureBase::emplace<FeatureBase>(C8, "absolute", state, cov);
+    auto c8 = FactorBase::emplace<FactorPose3d>(f8, f8, nullptr, false);
+    // displacement
+    auto C78 = CaptureBase::emplace<CaptureVoid>(F8, TimeStamp(8), nullptr);
+    auto f78 = FeatureBase::emplace<FeatureBase>(C78, "odom", zero_disp, cov);
+    auto c78 = FactorBase::emplace<FactorOdom3d>(f78, f78, F7, nullptr, false);
+
+    // Checks
+    EXPECT_TRUE(F1->isRemoving()); // First frame removed
+    EXPECT_TRUE(c1->isRemoving());
+    EXPECT_TRUE(C1->isRemoving());
+    EXPECT_TRUE(f1->isRemoving());
+
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c12->isRemoving());
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C23->isRemoving()); // Virally removed
+    EXPECT_TRUE(f23->isRemoving()); // Virally removed
+
+    EXPECT_TRUE(F4->isRemoving());
+    EXPECT_TRUE(c4->isRemoving());
+    EXPECT_TRUE(C4->isRemoving());
+    EXPECT_TRUE(f4->isRemoving());
+    EXPECT_TRUE(c34->isRemoving());
+    EXPECT_TRUE(C34->isRemoving());
+    EXPECT_TRUE(f34->isRemoving());
+
+    EXPECT_FALSE(F5->isRemoving());
+    EXPECT_FALSE(c5->isRemoving());
+    EXPECT_FALSE(C5->isRemoving());
+    EXPECT_FALSE(f5->isRemoving());
+    EXPECT_TRUE(c45->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_TRUE(C45->isRemoving()); // Virally removed
+    EXPECT_TRUE(f45->isRemoving()); // Virally removed
+
+    EXPECT_FALSE(F6->isRemoving());
+    EXPECT_FALSE(c6->isRemoving());
+    EXPECT_FALSE(C6->isRemoving());
+    EXPECT_FALSE(f6->isRemoving());
+    EXPECT_FALSE(c56->isRemoving());
+    EXPECT_FALSE(C56->isRemoving());
+    EXPECT_FALSE(f56->isRemoving());
+
+    EXPECT_FALSE(F7->isRemoving());
+    EXPECT_FALSE(c7->isRemoving());
+    EXPECT_FALSE(C7->isRemoving());
+    EXPECT_FALSE(f7->isRemoving());
+    EXPECT_FALSE(c67->isRemoving());
+    EXPECT_FALSE(C67->isRemoving());
+    EXPECT_FALSE(f67->isRemoving());
+
+    EXPECT_FALSE(F8->isRemoving());
+    EXPECT_FALSE(c8->isRemoving());
+    EXPECT_FALSE(C8->isRemoving());
+    EXPECT_FALSE(f8->isRemoving());
+    EXPECT_FALSE(c78->isRemoving());
+    EXPECT_FALSE(C78->isRemoving());
+    EXPECT_FALSE(f78->isRemoving());
+
+    EXPECT_TRUE(F3->isFixed());
+    EXPECT_FALSE(F5->isFixed());
+    EXPECT_FALSE(F6->isFixed());
+    EXPECT_FALSE(F7->isFixed());
+    EXPECT_FALSE(F8->isFixed());
+}
+
+TEST(TreeManagerSlidingWindowDualRate, slidingWindowNoFixNoViral)
+{
+    /* sliding window dual rate:
+     *     n_frames: 5
+     *     n_frames_recent: 3
+     *     rate_old_frames: 2
+     */
+
+    ParserYaml parser = ParserYaml("test/yaml/params_tree_manager_sliding_window_dual_rate2.yaml", wolf_root);
+    ParamsServer server = ParamsServer(parser.getParams());
+
+    ProblemPtr P = Problem::autoSetup(server);
+    P->applyPriorOptions(0);
+
+    /* FRAME 1 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (  )   (  )(  )(F1)
+     */
+    auto F1 = P->getTrajectory()->getLastFrame();
+    ASSERT_TRUE(F1 != nullptr);
+    ASSERT_FALSE(F1->getCaptureList().empty());
+    auto C1 = F1->getCaptureList().front();
+    ASSERT_FALSE(C1->getFeatureList().empty());
+    auto f1 = C1->getFeatureList().front();
+    ASSERT_FALSE(f1->getFactorList().empty());
+    auto c1 = f1->getFactorList().front();
+
+    Vector7d state = F1->getStateVector();
+    Vector7d zero_disp(state);
+    Matrix6d cov = Matrix6d::Identity();
+
+    // Check no frame removed
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+
+    /* FRAME 2 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (  )   (  )(F1)(F2)
+     */
+    auto F2 = P->emplaceKeyFrame(TimeStamp(2), "PO", 3, state);
+    P->keyFrameCallback(F2, nullptr, 0);
+
+    // absolute factor
+    auto C2 = CaptureBase::emplace<CaptureVoid>(F2, TimeStamp(2), nullptr);
+    auto f2 = FeatureBase::emplace<FeatureBase>(C2, "absolute", state, cov);
+    auto c2 = FactorBase::emplace<FactorPose3d>(f2, f2, nullptr, false);
+    // displacement
+    auto C12 = CaptureBase::emplace<CaptureVoid>(F2, TimeStamp(2), nullptr);
+    auto f12 = FeatureBase::emplace<FeatureBase>(C12, "odom", zero_disp, cov);
+    auto c12 = FactorBase::emplace<FactorOdom3d>(f12, f12, F1, nullptr, false);
+
+    // Check no frame removed
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_FALSE(F2->isRemoving());
+    EXPECT_FALSE(c2->isRemoving());
+    EXPECT_FALSE(C2->isRemoving());
+    EXPECT_FALSE(f2->isRemoving());
+    EXPECT_FALSE(c12->isRemoving());
+    EXPECT_FALSE(C12->isRemoving());
+    EXPECT_FALSE(f12->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F2->isFixed());
+
+    /* FRAME 3 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (  )   (F1)(F2)(F3)
+     */
+    auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3,    state);
+    P->keyFrameCallback(F3, nullptr, 0);
+
+    // absolute factor
+    auto C3 = CaptureBase::emplace<CaptureVoid>(F3, TimeStamp(3), nullptr);
+    auto f3 = FeatureBase::emplace<FeatureBase>(C3, "absolute", state, cov);
+    auto c3 = FactorBase::emplace<FactorPose3d>(f3, f3, nullptr, false);
+    // displacement
+    auto C23 = CaptureBase::emplace<CaptureVoid>(F3, TimeStamp(3), nullptr);
+    auto f23 = FeatureBase::emplace<FeatureBase>(C23, "odom", zero_disp, cov);
+    auto c23 = FactorBase::emplace<FactorOdom3d>(f23, f23, F2, nullptr, false);
+
+    // Check no frame removed
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_FALSE(F2->isRemoving());
+    EXPECT_FALSE(c2->isRemoving());
+    EXPECT_FALSE(C2->isRemoving());
+    EXPECT_FALSE(f2->isRemoving());
+    EXPECT_FALSE(c12->isRemoving());
+    EXPECT_FALSE(C12->isRemoving());
+    EXPECT_FALSE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_FALSE(c23->isRemoving());
+    EXPECT_FALSE(C23->isRemoving());
+    EXPECT_FALSE(f23->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F2->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+
+    /* FRAME 4 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (F1)(F2)(F3)(F4)
+     */
+    auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3,    state);
+    P->keyFrameCallback(F4, nullptr, 0);
+
+    // absolute factor
+    auto C4 = CaptureBase::emplace<CaptureVoid>(F4, TimeStamp(4), nullptr);
+    auto f4 = FeatureBase::emplace<FeatureBase>(C4, "absolute", state, cov);
+    auto c4 = FactorBase::emplace<FactorPose3d>(f4, f4, nullptr, false);
+    // displacement
+    auto C34 = CaptureBase::emplace<CaptureVoid>(F4, TimeStamp(4), nullptr);
+    auto f34 = FeatureBase::emplace<FeatureBase>(C34, "odom", zero_disp, cov);
+    auto c34 = FactorBase::emplace<FactorOdom3d>(f34, f34, F3, nullptr, false);
+
+    // Checks
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_FALSE(F2->isRemoving());
+    EXPECT_FALSE(c2->isRemoving());
+    EXPECT_FALSE(C2->isRemoving());
+    EXPECT_FALSE(f2->isRemoving());
+    EXPECT_FALSE(c12->isRemoving());
+    EXPECT_FALSE(C12->isRemoving());
+    EXPECT_FALSE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_FALSE(c23->isRemoving());
+    EXPECT_FALSE(C23->isRemoving());
+    EXPECT_FALSE(f23->isRemoving());
+
+    EXPECT_FALSE(F4->isRemoving());
+    EXPECT_FALSE(c4->isRemoving());
+    EXPECT_FALSE(C4->isRemoving());
+    EXPECT_FALSE(f4->isRemoving());
+    EXPECT_FALSE(c34->isRemoving());
+    EXPECT_FALSE(C34->isRemoving());
+    EXPECT_FALSE(f34->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F2->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F4->isFixed());
+
+    /* FRAME 5 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (  )   (F1)   (F3)(F4)(F5)
+     */
+    auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3,    state);
+    P->keyFrameCallback(F5, nullptr, 0);
+
+    // absolute factor
+    auto C5 = CaptureBase::emplace<CaptureVoid>(F5, TimeStamp(5), nullptr);
+    auto f5 = FeatureBase::emplace<FeatureBase>(C5, "absolute", state, cov);
+    auto c5 = FactorBase::emplace<FactorPose3d>(f5, f5, nullptr, false);
+    // displacement
+    auto C45 = CaptureBase::emplace<CaptureVoid>(F5, TimeStamp(5), nullptr);
+    auto f45 = FeatureBase::emplace<FeatureBase>(C45, "odom", zero_disp, cov);
+    auto c45 = FactorBase::emplace<FactorOdom3d>(f45, f45, F4, nullptr, false);
+
+    // Checks
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c12->isRemoving());
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_FALSE(C23->isRemoving()); // Not virally removed
+    EXPECT_FALSE(f23->isRemoving()); // Not virally removed
+
+    EXPECT_FALSE(F4->isRemoving());
+    EXPECT_FALSE(c4->isRemoving());
+    EXPECT_FALSE(C4->isRemoving());
+    EXPECT_FALSE(f4->isRemoving());
+    EXPECT_FALSE(c34->isRemoving());
+    EXPECT_FALSE(C34->isRemoving());
+    EXPECT_FALSE(f34->isRemoving());
+
+    EXPECT_FALSE(F5->isRemoving());
+    EXPECT_FALSE(c5->isRemoving());
+    EXPECT_FALSE(C5->isRemoving());
+    EXPECT_FALSE(f5->isRemoving());
+    EXPECT_FALSE(c45->isRemoving());
+    EXPECT_FALSE(C45->isRemoving());
+    EXPECT_FALSE(f45->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F4->isFixed());
+    EXPECT_FALSE(F5->isFixed());
+
+    /* FRAME 6 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (F1)   (F3)(F4)(F5)(F6)
+     */
+    auto F6 = P->emplaceKeyFrame(TimeStamp(6), "PO", 3,    state);
+    P->keyFrameCallback(F6, nullptr, 0);
+
+    // absolute factor
+    auto C6 = CaptureBase::emplace<CaptureVoid>(F6, TimeStamp(6), nullptr);
+    auto f6 = FeatureBase::emplace<FeatureBase>(C6, "absolute", state, cov);
+    auto c6 = FactorBase::emplace<FactorPose3d>(f6, f6, nullptr, false);
+    // displacement
+    auto C56 = CaptureBase::emplace<CaptureVoid>(F6, TimeStamp(6), nullptr);
+    auto f56 = FeatureBase::emplace<FeatureBase>(C56, "odom", zero_disp, cov);
+    auto c56 = FactorBase::emplace<FactorOdom3d>(f56, f56, F5, nullptr, false);
+
+    // Checks
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c12->isRemoving());
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_FALSE(C23->isRemoving()); // Not virally removed
+    EXPECT_FALSE(f23->isRemoving()); // Not virally removed
+
+    EXPECT_FALSE(F4->isRemoving());
+    EXPECT_FALSE(c4->isRemoving());
+    EXPECT_FALSE(C4->isRemoving());
+    EXPECT_FALSE(f4->isRemoving());
+    EXPECT_FALSE(c34->isRemoving());
+    EXPECT_FALSE(C34->isRemoving());
+    EXPECT_FALSE(f34->isRemoving());
+
+    EXPECT_FALSE(F5->isRemoving());
+    EXPECT_FALSE(c5->isRemoving());
+    EXPECT_FALSE(C5->isRemoving());
+    EXPECT_FALSE(f5->isRemoving());
+    EXPECT_FALSE(c45->isRemoving());
+    EXPECT_FALSE(C45->isRemoving());
+    EXPECT_FALSE(f45->isRemoving());
+
+    EXPECT_FALSE(F6->isRemoving());
+    EXPECT_FALSE(c6->isRemoving());
+    EXPECT_FALSE(C6->isRemoving());
+    EXPECT_FALSE(f6->isRemoving());
+    EXPECT_FALSE(c56->isRemoving());
+    EXPECT_FALSE(C56->isRemoving());
+    EXPECT_FALSE(f56->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F4->isFixed());
+    EXPECT_FALSE(F5->isFixed());
+    EXPECT_FALSE(F6->isFixed());
+
+    /* FRAME 7 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (F1)   (F3)   (F5)(F6)(F7)
+     */
+    auto F7 = P->emplaceKeyFrame(TimeStamp(7), "PO", 3,    state);
+    P->keyFrameCallback(F7, nullptr, 0);
+
+    // absolute factor
+    auto C7 = CaptureBase::emplace<CaptureVoid>(F7, TimeStamp(7), nullptr);
+    auto f7 = FeatureBase::emplace<FeatureBase>(C7, "absolute", state, cov);
+    auto c7 = FactorBase::emplace<FactorPose3d>(f7, f7, nullptr, false);
+    // displacement
+    auto C67 = CaptureBase::emplace<CaptureVoid>(F7, TimeStamp(7), nullptr);
+    auto f67 = FeatureBase::emplace<FeatureBase>(C67, "odom", zero_disp, cov);
+    auto c67 = FactorBase::emplace<FactorOdom3d>(f67, f67, F6, nullptr, false);
+
+    // Checks
+    EXPECT_FALSE(F1->isRemoving());
+    EXPECT_FALSE(c1->isRemoving());
+    EXPECT_FALSE(C1->isRemoving());
+    EXPECT_FALSE(f1->isRemoving());
+
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c12->isRemoving());
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_FALSE(C23->isRemoving()); // Not virally removed
+    EXPECT_FALSE(f23->isRemoving()); // Not virally removed
+
+    EXPECT_TRUE(F4->isRemoving());
+    EXPECT_TRUE(c4->isRemoving());
+    EXPECT_TRUE(C4->isRemoving());
+    EXPECT_TRUE(f4->isRemoving());
+    EXPECT_TRUE(c34->isRemoving());
+    EXPECT_TRUE(C34->isRemoving());
+    EXPECT_TRUE(f34->isRemoving());
+
+    EXPECT_FALSE(F5->isRemoving());
+    EXPECT_FALSE(c5->isRemoving());
+    EXPECT_FALSE(C5->isRemoving());
+    EXPECT_FALSE(f5->isRemoving());
+    EXPECT_TRUE(c45->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_FALSE(C45->isRemoving()); // Not virally removed
+    EXPECT_FALSE(f45->isRemoving()); // Not virally removed
+
+    EXPECT_FALSE(F6->isRemoving());
+    EXPECT_FALSE(c6->isRemoving());
+    EXPECT_FALSE(C6->isRemoving());
+    EXPECT_FALSE(f6->isRemoving());
+    EXPECT_FALSE(c56->isRemoving());
+    EXPECT_FALSE(C56->isRemoving());
+    EXPECT_FALSE(f56->isRemoving());
+
+    EXPECT_FALSE(F7->isRemoving());
+    EXPECT_FALSE(c7->isRemoving());
+    EXPECT_FALSE(C7->isRemoving());
+    EXPECT_FALSE(f7->isRemoving());
+    EXPECT_FALSE(c67->isRemoving());
+    EXPECT_FALSE(C67->isRemoving());
+    EXPECT_FALSE(f67->isRemoving());
+
+    EXPECT_FALSE(F1->isFixed());
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F5->isFixed());
+    EXPECT_FALSE(F6->isFixed());
+    EXPECT_FALSE(F7->isFixed());
+
+    /* FRAME 8 ----------------------------------------------------------
+     *
+     * Sliding window:
+     * (F3)   (F5)(F6)(F7)(F8)
+     */
+    auto F8 = P->emplaceKeyFrame(TimeStamp(8), "PO", 3,    state);
+    P->keyFrameCallback(F8, nullptr, 0);
+
+    // absolute factor
+    auto C8 = CaptureBase::emplace<CaptureVoid>(F8, TimeStamp(8), nullptr);
+    auto f8 = FeatureBase::emplace<FeatureBase>(C8, "absolute", state, cov);
+    auto c8 = FactorBase::emplace<FactorPose3d>(f8, f8, nullptr, false);
+    // displacement
+    auto C78 = CaptureBase::emplace<CaptureVoid>(F8, TimeStamp(8), nullptr);
+    auto f78 = FeatureBase::emplace<FeatureBase>(C78, "odom", zero_disp, cov);
+    auto c78 = FactorBase::emplace<FactorOdom3d>(f78, f78, F7, nullptr, false);
+
+    // Checks
+    EXPECT_TRUE(F1->isRemoving()); // First frame removed
+    EXPECT_TRUE(c1->isRemoving());
+    EXPECT_TRUE(C1->isRemoving());
+    EXPECT_TRUE(f1->isRemoving());
+
+    EXPECT_TRUE(F2->isRemoving());
+    EXPECT_TRUE(c2->isRemoving());
+    EXPECT_TRUE(C2->isRemoving());
+    EXPECT_TRUE(f2->isRemoving());
+    EXPECT_TRUE(c12->isRemoving());
+    EXPECT_TRUE(C12->isRemoving());
+    EXPECT_TRUE(f12->isRemoving());
+
+    EXPECT_FALSE(F3->isRemoving());
+    EXPECT_FALSE(c3->isRemoving());
+    EXPECT_FALSE(C3->isRemoving());
+    EXPECT_FALSE(f3->isRemoving());
+    EXPECT_TRUE(c23->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_FALSE(C23->isRemoving()); // Not virally removed
+    EXPECT_FALSE(f23->isRemoving()); // Not virally removed
+
+    EXPECT_TRUE(F4->isRemoving());
+    EXPECT_TRUE(c4->isRemoving());
+    EXPECT_TRUE(C4->isRemoving());
+    EXPECT_TRUE(f4->isRemoving());
+    EXPECT_TRUE(c34->isRemoving());
+    EXPECT_TRUE(C34->isRemoving());
+    EXPECT_TRUE(f34->isRemoving());
+
+    EXPECT_FALSE(F5->isRemoving());
+    EXPECT_FALSE(c5->isRemoving());
+    EXPECT_FALSE(C5->isRemoving());
+    EXPECT_FALSE(f5->isRemoving());
+    EXPECT_TRUE(c45->isRemoving()); // Factor removed because involves removed frame
+    EXPECT_FALSE(C45->isRemoving()); // Not virally removed
+    EXPECT_FALSE(f45->isRemoving()); // Not virally removed
+
+    EXPECT_FALSE(F6->isRemoving());
+    EXPECT_FALSE(c6->isRemoving());
+    EXPECT_FALSE(C6->isRemoving());
+    EXPECT_FALSE(f6->isRemoving());
+    EXPECT_FALSE(c56->isRemoving());
+    EXPECT_FALSE(C56->isRemoving());
+    EXPECT_FALSE(f56->isRemoving());
+
+    EXPECT_FALSE(F7->isRemoving());
+    EXPECT_FALSE(c7->isRemoving());
+    EXPECT_FALSE(C7->isRemoving());
+    EXPECT_FALSE(f7->isRemoving());
+    EXPECT_FALSE(c67->isRemoving());
+    EXPECT_FALSE(C67->isRemoving());
+    EXPECT_FALSE(f67->isRemoving());
+
+    EXPECT_FALSE(F8->isRemoving());
+    EXPECT_FALSE(c8->isRemoving());
+    EXPECT_FALSE(C8->isRemoving());
+    EXPECT_FALSE(f8->isRemoving());
+    EXPECT_FALSE(c78->isRemoving());
+    EXPECT_FALSE(C78->isRemoving());
+    EXPECT_FALSE(f78->isRemoving());
+
+    EXPECT_FALSE(F3->isFixed());
+    EXPECT_FALSE(F5->isFixed());
+    EXPECT_FALSE(F6->isFixed());
+    EXPECT_FALSE(F7->isFixed());
+    EXPECT_FALSE(F8->isFixed());
+}
+
+TEST(TreeManagerSlidingWindowDualRate, slidingWindowWithProcessor)
+{
+    // SLIDING WINDOW DUAL RATE
+    ParserYaml parser = ParserYaml("test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml", wolf_root);
+    ParamsServer server = ParamsServer(parser.getParams());
+    ProblemPtr problem = Problem::autoSetup(server);
+    SolverManagerPtr solver = FactorySolver::create("SolverCeres", problem, server);
+
+    // BASELINE
+    ParserYaml parser_bl = ParserYaml("test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml", wolf_root);
+    ParamsServer server_bl = ParamsServer(parser_bl.getParams());
+    ProblemPtr problem_bl = Problem::autoSetup(server_bl);
+    SolverManagerPtr solver_bl = FactorySolver::create("SolverCeres", problem_bl, server);
+
+    // aux variables
+    Vector7d data;
+    Matrix6d data_cov = Matrix6d::Identity();
+    TimeStamp t(0.0);
+    double dt = 1;
+    CaptureMotionPtr capture = std::make_shared<CaptureOdom3d>(t,
+                                                               problem->getSensor("odom"),
+                                                               data,
+                                                               data_cov);
+    CaptureMotionPtr capture_bl = std::make_shared<CaptureOdom3d>(t,
+                                                                  problem_bl->getSensor("odom"),
+                                                                  data,
+                                                                  data_cov);
+
+    // START MOTION CAPTURES
+    for (int i = 0; i<20; i++)
+    {
+        t += dt;
+        WOLF_INFO("-------------------------- t: ", t);
+
+        // random movement
+        data.setRandom(); data.tail<4>().normalize();
+
+        // sliding window process
+        capture->setTimeStamp(t);
+        capture->setData(data);
+        capture->process();
+
+        // baseline process
+        capture_bl->setTimeStamp(t);
+        capture_bl->setData(data);
+        capture_bl->process();
+
+        WOLF_INFO("state: ", problem->getState().vector("PO").transpose());
+
+        ASSERT_MATRIX_APPROX(problem->getState().vector("PO").transpose(),
+                             problem_bl->getState().vector("PO").transpose(),
+                             1e-12);
+
+        // Solve
+        solver->solve();
+        solver_bl->solve();
+
+        ASSERT_MATRIX_APPROX(problem->getState().vector("PO").transpose(),
+                             problem_bl->getState().vector("PO").transpose(),
+                             1e-12);
+
+        ASSERT_TRUE(problem->check());
+    }
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/test/yaml/params_tree_manager_sliding_window1.yaml b/test/yaml/params_tree_manager_sliding_window1.yaml
index 96ad94f72af7e8de1b9200a8e5ea44e3bc952a85..22242febd640b616bebe4ab0410867b0e373a5be 100644
--- a/test/yaml/params_tree_manager_sliding_window1.yaml
+++ b/test/yaml/params_tree_manager_sliding_window1.yaml
@@ -4,8 +4,6 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      # state: [0,0,0,0,0,0,1]
-      # cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
       $state:
         P: [0,0,0]
         O: [0,0,0,1]
@@ -15,8 +13,8 @@ config:
       time_tolerance: 0.1
     tree_manager:
       type: "TreeManagerSlidingWindow"
-      n_key_frames: 3
-      fix_first_key_frame: true
+      n_frames: 3
+      fix_first_frame: true
       viral_remove_empty_parent: true
   sensors: 
     -
diff --git a/test/yaml/params_tree_manager_sliding_window2.yaml b/test/yaml/params_tree_manager_sliding_window2.yaml
index 9ae33a2af5ab0695bd44948d33d2f9aa104cbc74..add5eff760050fecbde63c827bb75e77c531f86e 100644
--- a/test/yaml/params_tree_manager_sliding_window2.yaml
+++ b/test/yaml/params_tree_manager_sliding_window2.yaml
@@ -4,8 +4,6 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      # state: [0,0,0,0,0,0,1]
-      # cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
       $state:
         P: [0,0,0]
         O: [0,0,0,1]
@@ -15,8 +13,8 @@ config:
       time_tolerance: 0.1
     tree_manager:
       type: "TreeManagerSlidingWindow"
-      n_key_frames: 3
-      fix_first_key_frame: false
+      n_frames: 3
+      fix_first_frame: false
       viral_remove_empty_parent: false
   sensors: 
     -
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..32ef665e0a6d92b94e9342d22c5e4ca9952613f1
--- /dev/null
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml
@@ -0,0 +1,20 @@
+config:
+  problem:
+    frame_structure: "PO"
+    dimension: 3
+    prior:
+      mode: "factor"
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+      $sigma:
+        P: [0.31, 0.31, 0.31]
+        O: [0.31, 0.31, 0.31]
+      time_tolerance: 0.1
+    tree_manager:
+      type: "TreeManagerSlidingWindowDualRate"
+      n_frames: 5
+      n_frames_recent: 3
+      rate_old_frames: 2
+      fix_first_frame: true
+      viral_remove_empty_parent: true
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate2.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6b4795fb3ad70c77b02c9cffc74b964abfe64141
--- /dev/null
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate2.yaml
@@ -0,0 +1,20 @@
+config:
+  problem:
+    frame_structure: "PO"
+    dimension: 3
+    prior:
+      mode: "factor"
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+      $sigma:
+        P: [0.31, 0.31, 0.31]
+        O: [0.31, 0.31, 0.31]
+      time_tolerance: 0.1
+    tree_manager:
+      type: "TreeManagerSlidingWindowDualRate"
+      n_frames: 5
+      n_frames_recent: 3
+      rate_old_frames: 2
+      fix_first_frame: false
+      viral_remove_empty_parent: false
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b327504aa414e4b36e6163175b20b0ba4a4f79b9
--- /dev/null
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
@@ -0,0 +1,54 @@
+config:
+  solver:
+    period: 1
+    verbose: 2
+    update_immediately: false
+    max_num_iterations: 10
+  problem:
+    frame_structure: "PO"
+    dimension: 3
+    prior:
+      mode: "factor"
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+      $sigma:
+        P: [0.31, 0.31, 0.31]
+        O: [0.31, 0.31, 0.31]
+      time_tolerance: 0.1
+    tree_manager:
+      type: "TreeManagerSlidingWindowDualRate"
+      n_frames: 5
+      n_frames_recent: 3
+      rate_old_frames: 2
+      fix_first_frame: true
+      viral_remove_empty_parent: true
+  sensors: 
+    -
+      type: "SensorOdom3d"
+      name: "odom"
+      plugin: "core"
+      k_disp_to_disp: 0.1
+      k_disp_to_rot: 0.1
+      k_rot_to_rot: 0.1 
+      min_disp_var: 0.1 
+      min_rot_var: 0.1
+      extrinsic:
+        pose: [1,2,3,0,0,0,1]
+  processors:
+    -
+      type: "ProcessorOdom3d"
+      name: "my_proc_odom3d"
+      sensor_name: "odom"
+      plugin: "core"
+      apply_loss_function: false
+      time_tolerance:         0.01  # seconds
+      keyframe_vote:
+        voting_active:        true
+        voting_aux_active:    false
+        max_time_span:          0.2   # seconds
+        max_buff_length:        10    # motion deltas
+        dist_traveled:          10   # meters
+        angle_turned:           3.1   # radians (1 rad approx 57 deg, approx 60 deg)
+      
+      unmeasured_perturbation_std: 0.00111
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eba780939b0e4521ba7a5d571ed47d63749adc6e
--- /dev/null
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
@@ -0,0 +1,49 @@
+config:
+  solver:
+    period: 1
+    verbose: 2
+    update_immediately: false
+    max_num_iterations: 10
+  problem:
+    frame_structure: "PO"
+    dimension: 3
+    prior:
+      mode: "factor"
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+      $sigma:
+        P: [0.31, 0.31, 0.31]
+        O: [0.31, 0.31, 0.31]
+      time_tolerance: 0.1
+    tree_manager: 
+      type: "None"
+  sensors: 
+    -
+      type: "SensorOdom3d"
+      name: "odom"
+      plugin: "core"
+      k_disp_to_disp: 0.1
+      k_disp_to_rot: 0.1
+      k_rot_to_rot: 0.1 
+      min_disp_var: 0.1 
+      min_rot_var: 0.1
+      extrinsic:
+        pose: [1,2,3,0,0,0,1]
+  processors:
+    -
+      type: "ProcessorOdom3d"
+      name: "my_proc_odom3d"
+      sensor_name: "odom"
+      plugin: "core"
+      apply_loss_function: false
+      time_tolerance:         0.01  # seconds
+      keyframe_vote:
+        voting_active:        true
+        voting_aux_active:    false
+        max_time_span:          0.2   # seconds
+        max_buff_length:        10    # motion deltas
+        dist_traveled:          10   # meters
+        angle_turned:           3.1   # radians (1 rad approx 57 deg, approx 60 deg)
+      
+      unmeasured_perturbation_std: 0.00111