Rename ProcessorBase::makeFrame --> emplaceFrame

src/processor_base.cpp

@@ -27,7 +27,7 @@ bool ProcessorBase::permittedKeyFrame()
     return getProblem()->permitKeyFrame(shared_from_this());
 }
 
-FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameType _type)
+FrameBasePtr ProcessorBase::emplaceFrame(CaptureBasePtr _capture_ptr, FrameType _type)
 {
     std::cout << "Making " << (_type == KEY_FRAME? "key-" : "") << "frame" << std::endl;
 
@@ -37,7 +37,7 @@ FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameType _ty
     return new_frame_ptr;
 }
 
-FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameType _type)
+FrameBasePtr ProcessorBase::emplaceFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameType _type)
 {
     std::cout << "Making " << (_type == KEY_FRAME? "key-" : "") << "frame" << std::endl;
 

src/processor_base.h

@@ -59,7 +59,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
          *   - Put it in the Trajectory, and
          *   - Add the provided capture on it.
          */
-        FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, FrameType _type = NON_KEY_FRAME);
+        FrameBasePtr emplaceFrame(CaptureBasePtr _capture_ptr, FrameType _type = NON_KEY_FRAME);
         /**\brief make a Frame with the provided Capture
          *
          * Provide the following functionality:
@@ -67,7 +67,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
          *   - Put it in the Trajectory, and
          *   - Add the provided capture on it.
          */
-        FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameType _type = NON_KEY_FRAME);
+        FrameBasePtr emplaceFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameType _type = NON_KEY_FRAME);
 
         virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) = 0;