diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 55b354b7776a14909df1d38731bfd1f391a25e7a..5a46681d09c4feb03ebc98aa0f0cbd6368a325db 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -126,7 +126,7 @@ public:
/**\brief Add a element to the buffer
*
*/
- void add(const TimeStamp& _time_stamp, const T& _element); //const double& _time_tolerance);
+ void emplace(const TimeStamp& _time_stamp, const T& _element); //const double& _time_tolerance);
/** \brief returns the container with elements of the buffer
*
@@ -558,7 +558,7 @@ T Buffer<T>::selectLast()
}
template <typename T>
-void Buffer<T>::add(const TimeStamp& _time_stamp, const T& _element)
+void Buffer<T>::emplace(const TimeStamp& _time_stamp, const T& _element)
{
container_.emplace(_time_stamp, _element);
}
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index f6806ab4d8d6d2dbd6056575a096a74a4af121af..61f145811aabebbbdeaaba70b87f0ac5602e80f3 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -67,7 +67,7 @@ void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe, const double& _time
// asking if frame should be stored
if (storeKeyFrame(_keyframe))
- buffer_frame_.add(_keyframe->getTimeStamp(), _keyframe);
+ buffer_frame_.emplace(_keyframe->getTimeStamp(), _keyframe);
// asking if frame should be processed
if (triggerInKeyFrame(_keyframe, _time_tol_other))
@@ -92,7 +92,7 @@ void ProcessorBase::captureCallback(CaptureBasePtr _capture)
// asking if capture should be stored
if (storeCapture(_capture))
- buffer_capture_.add(_capture->getTimeStamp(), _capture);
+ buffer_capture_.emplace(_capture->getTimeStamp(), _capture);
// asking if capture should be processed
if (triggerInCapture(_capture))
diff --git a/src/processor/processor_loop_closure.cpp b/src/processor/processor_loop_closure.cpp
index 777dddcacbc072c53396a7e5c1f83bc7d4f8d6a5..8b39b0230e3834df0957f005e0aa59ba59e29ad4 100644
--- a/src/processor/processor_loop_closure.cpp
+++ b/src/processor/processor_loop_closure.cpp
@@ -75,7 +75,7 @@ void ProcessorLoopClosure::processCapture(CaptureBasePtr _capture)
}
// CASE 3:
WOLF_DEBUG("CASE 3");
- buffer_capture_.add(_capture->getTimeStamp(), _capture);
+ buffer_capture_.emplace(_capture->getTimeStamp(), _capture);
}
void ProcessorLoopClosure::processKeyFrame(FrameBasePtr _keyframe, const double& _time_tolerance)
@@ -129,7 +129,7 @@ void ProcessorLoopClosure::processKeyFrame(FrameBasePtr _keyframe, const double&
WOLF_DEBUG("CASE 3");
// store frame
- buffer_frame_.add(_keyframe->getTimeStamp(), _keyframe);
+ buffer_frame_.emplace(_keyframe->getTimeStamp(), _keyframe);
return;
}
diff --git a/test/gtest_buffer_frame.cpp b/test/gtest_buffer_frame.cpp
index a6b63cf2b677f58d5051936cc7b247211f5a3ef2..2f94d78e36f2771b0a4eae0979c6b3d58c5b2ed5 100644
--- a/test/gtest_buffer_frame.cpp
+++ b/test/gtest_buffer_frame.cpp
@@ -77,18 +77,18 @@ TEST_F(BufferFrameTest, empty)
ASSERT_TRUE(buffer_kf.empty());
}
-TEST_F(BufferFrameTest, add)
+TEST_F(BufferFrameTest, emplace)
{
- buffer_kf.add(10, f10);
+ buffer_kf.emplace(10, f10);
ASSERT_EQ(buffer_kf.size(), (unsigned int) 1);
- buffer_kf.add(20, f20);
+ buffer_kf.emplace(20, f20);
ASSERT_EQ(buffer_kf.size(), (unsigned int) 2);
}
TEST_F(BufferFrameTest, clear)
{
- buffer_kf.add(10, f10);
- buffer_kf.add(20, f20);
+ buffer_kf.emplace(10, f10);
+ buffer_kf.emplace(20, f20);
ASSERT_EQ(buffer_kf.size(), (unsigned int) 2);
buffer_kf.clear();
ASSERT_TRUE(buffer_kf.empty());
@@ -97,16 +97,16 @@ TEST_F(BufferFrameTest, clear)
//TEST_F(BufferFrameTest, print)
//{
// kfpackbuffer.clear();
-// kfpackbuffer.add(f10, tt10);
-// kfpackbuffer.add(f20, tt20);
+// kfpackbuffer.emplace(f10, tt10);
+// kfpackbuffer.emplace(f20, tt20);
// kfpackbuffer.print();
//}
TEST_F(BufferFrameTest, doubleCheckTimeTolerance)
{
buffer_kf.clear();
- buffer_kf.add(10, f10);
- buffer_kf.add(20, f20);
+ buffer_kf.emplace(10, f10);
+ buffer_kf.emplace(20, f20);
// min time tolerance > diff between time stamps. It should return true
ASSERT_TRUE(buffer_kf.doubleCheckTimeTolerance(10, 20, 20, 20));
// min time tolerance < diff between time stamps. It should return true
@@ -157,8 +157,8 @@ TEST_F(BufferFrameTest, doubleCheckTimeTolerance)
// {
// for (unsigned int ip2=0;ip2<p2.size();++ip2)
// {
-// buffer_kf.add(f10, p1[ip1]);
-// buffer_kf.add(f20, p2[ip2]);
+// buffer_kf.emplace(f10, p1[ip1]);
+// buffer_kf.emplace(f20, p2[ip2]);
// for (unsigned int iq=0;iq<q.size();++iq)
// {
// PackKeyFramePtr packQ = buffer_kf.selectPack(16, q[iq]);
@@ -176,9 +176,9 @@ TEST_F(BufferFrameTest, doubleCheckTimeTolerance)
//{
// buffer_kf.clear();
//
-// buffer_kf.add(10, f10);
-// buffer_kf.add(20, f20);
-// buffer_kf.add(21, f21);
+// buffer_kf.emplace(10, f10);
+// buffer_kf.emplace(20, f20);
+// buffer_kf.emplace(21, f21);
//
// // input time stamps
// std::vector<TimeStamp> q_ts = {9.5, 9.995, 10.005, 19.5, 20.5, 21.5};
@@ -239,9 +239,9 @@ TEST_F(BufferFrameTest, removeUpTo)
// Small time tolerance for all test asserts
double tt = 0.1;
buffer_kf.clear();
- buffer_kf.add(10, f10);
- buffer_kf.add(20, f20);
- buffer_kf.add(21, f21);
+ buffer_kf.emplace(10, f10);
+ buffer_kf.emplace(20, f20);
+ buffer_kf.emplace(21, f21);
// it should remove f20 and f10, thus size should be 1 after removal
// Specifically, only f21 should remain
@@ -253,7 +253,7 @@ TEST_F(BufferFrameTest, removeUpTo)
// Chech removal of an imprecise time stamp
// Specifically, only f28 should remain
- buffer_kf.add(28, f28);
+ buffer_kf.emplace(28, f28);
ASSERT_EQ(buffer_kf.size(), (unsigned int) 2);
FrameBasePtr f22 = std::make_shared<FrameBase>(TimeStamp(22),nullptr,nullptr,nullptr);
f22->setTimeTolerance(5.0);