adapted tests again

test/gtest_processor_tracker_feature_dummy.cpp

@@ -211,7 +211,7 @@ TEST_F(ProcessorTrackerFeatureDummyTest, processKnown)
         ASSERT_TRUE(isFeatureLinked(feat, processor->getIncoming()));
 }
 
-TEST_F(ProcessorTrackerFeatureDummyTest, createFactor)
+TEST_F(ProcessorTrackerFeatureDummyTest, emplaceFactor)
 {
     FeatureBasePtr ftr(std::make_shared<FeatureBase>("DUMMY FEATURE",
                                                      Eigen::Vector1s::Ones(),

test/gtest_processor_tracker_landmark_dummy.cpp

@@ -41,7 +41,7 @@ class ProcessorTrackerLandmarkDummyDummy : public ProcessorTrackerLandmarkDummy
 
         LandmarkBasePtr callEmplaceLandmark(FeatureBasePtr _feature_ptr){ return this->emplaceLandmark(_feature_ptr); }
         void callEmplaceNewLandmarks(){ this->emplaceNewLandmarks(); }
-        FactorBasePtr callEmlaceFactor(FeatureBasePtr _feature_ptr,
+        FactorBasePtr callEmplaceFactor(FeatureBasePtr _feature_ptr,
                                        LandmarkBasePtr _landmark_ptr){ return this->emplaceFactor(_feature_ptr,
                                                                                                  _landmark_ptr); }
 
@@ -139,7 +139,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, detectNewFeatures)
         ASSERT_TRUE(isFeatureLinked(feat, last_cap));
 }
 
-TEST_F(ProcessorTrackerLandmarkDummyTest, createLandmark)
+TEST_F(ProcessorTrackerLandmarkDummyTest, emplaceLandmark)
 {
     // Put a capture on last_ptr_
     CaptureBasePtr last_cap = std::make_shared<CaptureVoid>(0, sensor);
@@ -159,7 +159,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, createLandmark)
     ASSERT_EQ(problem->getMap()->getLandmarkList().size(),n_feat); // emplaced 10 landmarks
 }
 
-TEST_F(ProcessorTrackerLandmarkDummyTest, createNewLandmarks)
+TEST_F(ProcessorTrackerLandmarkDummyTest, emplaceNewLandmarks)
 {
     // Put a capture on last_ptr_
     CaptureBasePtr last_cap = std::make_shared<CaptureVoid>(0, sensor);
@@ -255,7 +255,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, processKnown)
     ASSERT_EQ(processor->getMatchesLandmarkFromIncoming().size(), 9); // 1 of each 10 landmarks is not found
 }
 
-TEST_F(ProcessorTrackerLandmarkDummyTest, createFactor)
+TEST_F(ProcessorTrackerLandmarkDummyTest, emplaceFactor)
 {
     FeatureBasePtr ftr(std::make_shared<FeatureBase>("DUMMY FEATURE",
                                                      Eigen::Vector1s::Ones(),
@@ -264,8 +264,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, createFactor)
                                                        std::make_shared<StateBlock>(1),
                                                        std::make_shared<StateBlock>(1)));
 
-    FactorBasePtr fac = processor->callEmlaceFactor(ftr, lmk);
-    fac->link(ftr);
+    FactorBasePtr fac = processor->callEmplaceFactor(ftr, lmk);
     ASSERT_EQ(fac->getFeature(),ftr);
     ASSERT_EQ(fac->getFrameOther(),nullptr);
     ASSERT_EQ(fac->getCaptureOther(),nullptr);