Rename class ProcessorLoopClosureBase2 to ProcessorLoopClosureBase

include/core/processor/processor_loopclosure_base.h

-#ifndef _WOLF_PROCESSOR_LOOPCLOSURE_BASE2_H
-#define _WOLF_PROCESSOR_LOOPCLOSURE_BASE2_H
+#ifndef _WOLF_PROCESSOR_LOOPCLOSURE_BASE_H
+#define _WOLF_PROCESSOR_LOOPCLOSURE_BASE_H
 
 // Wolf related headers
 #include "core/processor/processor_base.h"
 
 namespace wolf{
 
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsLoopClosure2);
+WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsLoopClosure);
 
-struct ProcessorParamsLoopClosure2 : public ProcessorParamsBase
+struct ProcessorParamsLoopClosure : public ProcessorParamsBase
 {
     using ProcessorParamsBase::ProcessorParamsBase;
-    //  virtual ~ProcessorParamsLoopClosure2() = default;
+    //  virtual ~ProcessorParamsLoopClosure() = default;
 
     // add neccesery parameters for loop closure initialisation here and initialize
     // them in constructor
@@ -42,17 +42,17 @@ struct ProcessorParamsLoopClosure2 : public ProcessorParamsBase
  * which are called at the beginning and at the end of process() respectively.
  */
 
-class ProcessorLoopClosureBase2 : public ProcessorBase
+class ProcessorLoopClosureBase : public ProcessorBase
 {
 protected:
 
-    ProcessorParamsLoopClosure2Ptr params_loop_closure_;
+    ProcessorParamsLoopClosurePtr params_loop_closure_;
 
 public:
 
-    ProcessorLoopClosureBase2(const std::string& _type, ProcessorParamsLoopClosure2Ptr _params_loop_closure);
+    ProcessorLoopClosureBase(const std::string& _type, ProcessorParamsLoopClosurePtr _params_loop_closure);
 
-    virtual ~ProcessorLoopClosureBase2() = default;
+    virtual ~ProcessorLoopClosureBase() = default;
     virtual void configure(SensorBasePtr _sensor) override { };
 
     /** \brief Full processing of an incoming Capture.
@@ -151,4 +151,4 @@ protected:
 
 } // namespace wolf
 
-#endif /* _WOLF_PROCESSOR_LOOPCLOSURE_BASE2_H */
+#endif /* _WOLF_PROCESSOR_LOOPCLOSURE_BASE_H */

src/processor/processor_loopclosure_base.cpp

 /**
- * \file processor_loop_closure2.h
+ * \file processor_loop_closure.h
  *
  *  Created on: Mai 31, 2019
  *      \author: Pierre Guetschel
@@ -11,7 +11,7 @@
 namespace wolf
 {
 
-ProcessorLoopClosureBase2::ProcessorLoopClosureBase2(const std::string& _type, ProcessorParamsLoopClosure2Ptr _params_loop_closure):
+ProcessorLoopClosureBase::ProcessorLoopClosureBase(const std::string& _type, ProcessorParamsLoopClosurePtr _params_loop_closure):
         ProcessorBase(_type, _params_loop_closure),
         params_loop_closure_(_params_loop_closure)
 {
@@ -19,7 +19,7 @@ ProcessorLoopClosureBase2::ProcessorLoopClosureBase2(const std::string& _type, P
 }
 
 //##############################################################################
-void ProcessorLoopClosureBase2::process(CaptureBasePtr _incoming_ptr)
+void ProcessorLoopClosureBase::process(CaptureBasePtr _incoming_ptr)
 {
     // the pre-process, if necessary, is implemented in the derived classes
     preProcess();
@@ -48,7 +48,7 @@ void ProcessorLoopClosureBase2::process(CaptureBasePtr _incoming_ptr)
  * In the default implementation, we select the KF with the most recent TimeStamp
  * and that is compatible with at least a Capture
  */
-std::pair<FrameBasePtr,CaptureBasePtr> ProcessorLoopClosureBase2::selectPairKC()
+std::pair<FrameBasePtr,CaptureBasePtr> ProcessorLoopClosureBase::selectPairKC()
 {
     std::map<TimeStamp,PackKeyFramePtr> kf_container = buffer_pack_kf_.getContainer();
     if (kf_container.empty()){