addapted to new emplace api

src/sensor/sensor_base.cpp

@@ -171,14 +171,12 @@ void SensorBase::addPriorParameter(const unsigned int _i, const Eigen::VectorXs&
         params_prior_map_[_i]->remove();
 
     // create feature
-    FeatureBasePtr ftr_prior = std::make_shared<FeatureBase>("ABSOLUTE",_x,_cov);
+    FeatureBasePtr ftr_prior = FeatureBase::emplace<FeatureBase>(nullptr, "ABSOLUTE",_x,_cov);//std::make_shared<FeatureBase>("ABSOLUTE",_x,_cov);
 
     // set feature problem
     ftr_prior->setProblem(getProblem());
 
     // create & add factor absolute
-    // ftr_prior->addFactor(std::make_shared<FactorQuaternionAbsolute>(_sb));
-    // ftr_prior->addFactor(std::make_shared<FactorBlockAbsolute>(_sb, _start_idx, _size));
     if (is_quaternion)
         FactorBase::emplace<FactorQuaternionAbsolute>(ftr_prior, _sb);
     else