adapted gtest to new restrictions of emplacing factors

test/gtest_frame_base.cpp

@@ -69,17 +69,17 @@ TEST(FrameBase, LinksToTree)
     intrinsics_odo.k_disp_to_disp = 1;
     intrinsics_odo.k_rot_to_rot = 1;
     auto S = SensorBase::emplace<SensorOdom2d>(P->getHardware(), Vector3d::Zero(), intrinsics_odo);
-    auto F1 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
-    auto F2 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
-    WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
+    auto F1 = FrameBase::emplace<FrameBase>(T, KEY, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+    auto F2 = FrameBase::emplace<FrameBase>(T, KEY, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
     auto C = CaptureBase::emplace<CaptureMotion>(F1, "CaptureMotion", 1, S, Vector3d::Zero(), 3, 3, nullptr);
     WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
-    auto p = ProcessorBase::emplace<ProcessorOdom2d>(S, std::make_shared<ParamsProcessorOdom2d>());
+    auto p = std::make_shared<ProcessorOdom2d>(std::make_shared<ParamsProcessorOdom2d>());
     WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
-    auto f = FeatureBase::emplace<FeatureBase>(C, "f", Vector1d(1), Matrix<double,1,1>::Identity()*.01);
+    p->link(S);
+    //auto p = ProcessorBase::emplace<ProcessorOdom2d>(S, std::make_shared<ParamsProcessorOdom2d>());
     WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
+    auto f = FeatureBase::emplace<FeatureBase>(C, "f", Vector1d(1), Matrix<double,1,1>::Identity()*.01);
     auto c = FactorBase::emplace<FactorOdom2d>(f, f, F2, p, false);
-    WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
 
     //TODO: WARNING! I dropped this comprovations since the emplacing operation is now atomic.
     ASSERT_FALSE(F2->getConstrainedByList().empty());
@@ -96,7 +96,6 @@ TEST(FrameBase, LinksToTree)
     ASSERT_EQ(F1->getHits() , (unsigned int) 0);
 
     // F2 has no capture and one factor-by
-    WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
     ASSERT_TRUE(F2->getCaptureList().empty());
     ASSERT_FALSE(F2->getConstrainedByList().empty());
     ASSERT_EQ(F2->getHits() , (unsigned int) 1);