diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index e014bcccc1e1d3912bdebe76f9d090a189be2c13..2256a1c6fb055647f3adeecdb092bcc47c298000 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -247,7 +247,7 @@ int main(int argc, char** argv)
odom_trajectory.head(3) = ground_truth_pose;
// Origin Key Frame
- FrameBasePtr origin_frame = problem.createFrame(ESTIMATED_FRAME, ground_truth_pose, ts);
+ FrameBasePtr origin_frame = problem.createFrame(ESTIMATED, ground_truth_pose, ts);
// Prior covariance
CapturePose* initial_covariance = new CapturePose(ts, gps_sensor, ground_truth_pose, Eigen::Matrix3s::Identity() * 0.1);
diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/src/examples/test_ceres_2_lasers_polylines.cpp
index ef5697b6458e18fc234c71c12404be5f14a67920..b7e08b5e0530c06658fe394d5e6f94701b1e76c1 100644
--- a/src/examples/test_ceres_2_lasers_polylines.cpp
+++ b/src/examples/test_ceres_2_lasers_polylines.cpp
@@ -254,7 +254,7 @@ int main(int argc, char** argv)
odom_trajectory.head(3) = ground_truth_pose;
// Origin Key Frame
- FrameBasePtr origin_frame = problem.createFrame(ESTIMATED_FRAME, ground_truth_pose, ts);
+ FrameBasePtr origin_frame = problem.createFrame(ESTIMATED, ground_truth_pose, ts);
// Prior covariance
CapturePose* initial_covariance = new CapturePose(ts, gps_sensor, ground_truth_pose, Eigen::Matrix3s::Identity() * 0.1);
diff --git a/src/examples/test_factor_imu.cpp b/src/examples/test_factor_imu.cpp
index 48998791cf7ce36c865961de6092cadd957738ec..156f799b6768a49cf6f9f1f4d6b8abd80d86e168 100644
--- a/src/examples/test_factor_imu.cpp
+++ b/src/examples/test_factor_imu.cpp
@@ -80,7 +80,7 @@ int main(int argc, char** argv)
//create FrameIMU
ts = wolf_problem_ptr_->getProcessorMotion()->getBuffer().get().back().ts_;
state_vec = wolf_problem_ptr_->getProcessorMotion()->getCurrentState();
- FrameIMUPtr last_frame = std::make_shared<FrameIMU>(ESTIMATED_FRAME, ts, state_vec);
+ FrameIMUPtr last_frame = std::make_shared<FrameIMU>(ESTIMATED, ts, state_vec);
wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
//create a feature
@@ -141,7 +141,7 @@ int main(int argc, char** argv)
//create FrameIMU
ts = wolf_problem_ptr_->getProcessorMotion()->getBuffer().get().back().ts_;
state_vec = wolf_problem_ptr_->getProcessorMotion()->getCurrentState();
- FrameIMUPtr last_frame = std::make_shared<FrameIMU>(ESTIMATED_FRAME, ts, state_vec);
+ FrameIMUPtr last_frame = std::make_shared<FrameIMU>(ESTIMATED, ts, state_vec);
wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
//create a feature
@@ -199,7 +199,7 @@ int main(int argc, char** argv)
//create FrameIMU
ts = wolf_problem_ptr_->getProcessorMotion()->getBuffer().get().back().ts_;
state_vec = wolf_problem_ptr_->getProcessorMotion()->getCurrentState();
- FrameIMUPtr last_frame = std::make_shared<FrameIMU>(ESTIMATED_FRAME, ts, state_vec);
+ FrameIMUPtr last_frame = std::make_shared<FrameIMU>(ESTIMATED, ts, state_vec);
wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
//create a feature
diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/src/examples/test_processor_tracker_landmark_image.cpp
index ed488dbee366d075b2cbef86cfc24539996b8fc2..245209a67100cc9c158775df9509c726188353a9 100644
--- a/src/examples/test_processor_tracker_landmark_image.cpp
+++ b/src/examples/test_processor_tracker_landmark_image.cpp
@@ -98,7 +98,7 @@ int main(int argc, char** argv)
//=====================================================
// Origin Key Frame is fixed
TimeStamp t = 0;
- FrameBasePtr origin_frame = problem->emplaceFrame(ESTIMATED_FRAME, (Vector7s()<<1,0,0,0,0,0,1).finished(), t);
+ FrameBasePtr origin_frame = problem->emplaceFrame(ESTIMATED, (Vector7s()<<1,0,0,0,0,0,1).finished(), t);
problem->getProcessorMotion()->setOrigin(origin_frame);
origin_frame->fix();
diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp
index 416f4cddff28dc5ba2fed5bec087adc6c19fe10f..9e5e8f77b53973e6f0d2f1aadd6f2d3913437db9 100644
--- a/src/examples/test_simple_AHP.cpp
+++ b/src/examples/test_simple_AHP.cpp
@@ -97,11 +97,11 @@ int main(int argc, char** argv)
/* 1 */
ProblemPtr problem = Problem::create("PO 3D");
// One anchor frame to define the lmk, and a copy to make a factor
- FrameBasePtr kf_1 = problem->emplaceFrame(ESTIMATED_FRAME,(Vector7s()<<0,0,0,0,0,0,1).finished(), TimeStamp(0));
- FrameBasePtr kf_2 = problem->emplaceFrame(ESTIMATED_FRAME,(Vector7s()<<0,0,0,0,0,0,1).finished(), TimeStamp(0));
+ FrameBasePtr kf_1 = problem->emplaceFrame(ESTIMATED,(Vector7s()<<0,0,0,0,0,0,1).finished(), TimeStamp(0));
+ FrameBasePtr kf_2 = problem->emplaceFrame(ESTIMATED,(Vector7s()<<0,0,0,0,0,0,1).finished(), TimeStamp(0));
// and two other frames to observe the lmk
- FrameBasePtr kf_3 = problem->emplaceFrame(ESTIMATED_FRAME,(Vector7s()<<0,-1,0,0,0,0,1).finished(), TimeStamp(0));
- FrameBasePtr kf_4 = problem->emplaceFrame(ESTIMATED_FRAME,(Vector7s()<<0,+1,0,0,0,0,1).finished(), TimeStamp(0));
+ FrameBasePtr kf_3 = problem->emplaceFrame(ESTIMATED,(Vector7s()<<0,-1,0,0,0,0,1).finished(), TimeStamp(0));
+ FrameBasePtr kf_4 = problem->emplaceFrame(ESTIMATED,(Vector7s()<<0,+1,0,0,0,0,1).finished(), TimeStamp(0));
kf_1->fix();
kf_2->fix();
diff --git a/src/examples/test_sort_keyframes.cpp b/src/examples/test_sort_keyframes.cpp
index 0e4e6999479cab7bb4a31a2c7d55dbbf82a76bfc..2b359f38f82aeb87bb8d9b21fa1ebf28b9c8e786 100644
--- a/src/examples/test_sort_keyframes.cpp
+++ b/src/examples/test_sort_keyframes.cpp
@@ -65,12 +65,12 @@ int main()
printFrames(problem_ptr);
- FrameBasePtr frm7 = problem_ptr->emplaceFrame(ESTIMATED_FRAME, Eigen::VectorXs::Zero(3), TimeStamp(0.7));
+ FrameBasePtr frm7 = problem_ptr->emplaceFrame(ESTIMATED, Eigen::VectorXs::Zero(3), TimeStamp(0.7));
std::cout << std::endl << "created Key Frame " << frm7->id() << " TS: " << 0.7 << std::endl;
printFrames(problem_ptr);
- FrameBasePtr frm8 = problem_ptr->emplaceFrame(ESTIMATED_FRAME, Eigen::VectorXs::Zero(3), TimeStamp(0.35));
+ FrameBasePtr frm8 = problem_ptr->emplaceFrame(ESTIMATED, Eigen::VectorXs::Zero(3), TimeStamp(0.35));
std::cout << std::endl << "created Key Frame " << frm8->id() << " TS: " << 0.35 << std::endl;
printFrames(problem_ptr);
diff --git a/src/examples/test_sparsification.cpp b/src/examples/test_sparsification.cpp
index c47258bab530f5276863c441d8bdcfd79e908896..97af22fa1df25cf2d05c772c6b8a5ca9d19a8b3f 100644
--- a/src/examples/test_sparsification.cpp
+++ b/src/examples/test_sparsification.cpp
@@ -216,7 +216,7 @@ int main(int argc, char** argv)
// ------------------------ START EXPERIMENT ------------------------
// First frame FIXED
- last_frame_ptr = bl_problem_ptr->emplaceFrame(ESTIMATED_FRAME, Eigen::Vector3s::Zero(),TimeStamp(0));
+ last_frame_ptr = bl_problem_ptr->emplaceFrame(ESTIMATED, Eigen::Vector3s::Zero(),TimeStamp(0));
last_frame_ptr->fix();
bl_problem_ptr->print(4, true, false, true);
@@ -238,7 +238,7 @@ int main(int argc, char** argv)
Eigen::Vector3s from_pose = frame_from_ptr->getState();
R.topLeftCorner(2,2) = Eigen::Rotation2Ds(from_pose(2)).matrix();
Eigen::Vector3s new_frame_pose = from_pose + R*meas;
- last_frame_ptr = bl_problem_ptr->emplaceFrame(ESTIMATED_FRAME, new_frame_pose, TimeStamp(double(edge_to)));
+ last_frame_ptr = bl_problem_ptr->emplaceFrame(ESTIMATED, new_frame_pose, TimeStamp(double(edge_to)));
frame_to_ptr = last_frame_ptr;
diff --git a/src/examples/test_wolf_imported_graph.cpp b/src/examples/test_wolf_imported_graph.cpp
index 5c774f7754151d151d2844a9e895e7b84f444eb9..5d065b8ce83113c085bdd12dd8b927f8fc520584 100644
--- a/src/examples/test_wolf_imported_graph.cpp
+++ b/src/examples/test_wolf_imported_graph.cpp
@@ -130,8 +130,8 @@ int main(int argc, char** argv)
bNum.clear();
// add frame to problem
- FrameBasePtr vertex_frame_ptr_full = new FrameBase(ESTIMATED_FRAME, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
- FrameBasePtr vertex_frame_ptr_prun = new FrameBase(ESTIMATED_FRAME, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_full = new FrameBase(ESTIMATED, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_prun = new FrameBase(ESTIMATED, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
wolf_problem_full->getTrajectory()->addFrame(vertex_frame_ptr_full);
wolf_problem_prun->getTrajectory()->addFrame(vertex_frame_ptr_prun);
// store
diff --git a/src/examples/test_wolf_prunning.cpp b/src/examples/test_wolf_prunning.cpp
index 894e2d54bfb3002b39bd60e3107372596ebaa130..9338b47287d238c6604077fed662d2ba2f290212 100644
--- a/src/examples/test_wolf_prunning.cpp
+++ b/src/examples/test_wolf_prunning.cpp
@@ -148,8 +148,8 @@ int main(int argc, char** argv)
bNum.clear();
// add frame to problem
- FrameBasePtr vertex_frame_ptr_full = new FrameBase(ESTIMATED_FRAME, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
- FrameBasePtr vertex_frame_ptr_prun = new FrameBase(ESTIMATED_FRAME, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_full = new FrameBase(ESTIMATED, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_prun = new FrameBase(ESTIMATED, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
wolf_problem_full->getTrajectory()->addFrame(vertex_frame_ptr_full);
wolf_problem_prun->getTrajectory()->addFrame(vertex_frame_ptr_prun);
// store
diff --git a/src/problem.cpp b/src/problem.cpp
index b8d4f63d8154f58463969b2466c6e942f5746b8d..d1c3e4306183a3846587499565a37616d02db00b 100644
--- a/src/problem.cpp
+++ b/src/problem.cpp
@@ -665,7 +665,7 @@ FrameBasePtr Problem::setPrior(const Eigen::VectorXs& _prior_state, const Eigen:
if ( ! prior_is_set_ )
{
// Create origin frame
- FrameBasePtr origin_keyframe = emplaceFrame(ESTIMATED_FRAME, _prior_state, _ts);
+ FrameBasePtr origin_keyframe = emplaceFrame(ESTIMATED, _prior_state, _ts);
// create origin capture with the given state as data
// Capture fix only takes 3D position and Quaternion orientation
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 5708e2965e9857bb00e7a2abbb9cc33e7f1fff3e..f189e1b3140ded6d1375164b35ec40762ab371f3 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -28,7 +28,7 @@ bool ProcessorBase::permittedKeyFrame()
FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr)
{
- std::cout << "Making " << (_type == ESTIMATED_FRAME? "key-" : "") << "frame" << std::endl;
+ std::cout << "Making " << (_type == ESTIMATED? "key-" : "") << "frame" << std::endl;
FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(_type, _capture_ptr->getTimeStamp());
new_frame_ptr->addCapture(_capture_ptr);
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 69909facd79e5014d64199c23e5d2c63e1241fc2..622c766d2352833020a757ae1b66dfda42a50ec1 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -288,7 +288,7 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
FrameBasePtr ProcessorMotion::setOrigin(const Eigen::VectorXs& _x_origin, const TimeStamp& _ts_origin)
{
- FrameBasePtr key_frame_ptr = getProblem()->emplaceFrame(ESTIMATED_FRAME, _x_origin, _ts_origin);
+ FrameBasePtr key_frame_ptr = getProblem()->emplaceFrame(ESTIMATED, _x_origin, _ts_origin);
setOrigin(key_frame_ptr);
return key_frame_ptr;
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index d014713ab1e2cb2f2e955afd664c4a2567022a17..87be1401e46bb0493b33c1dd99cfdb2a64653f5c 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -75,7 +75,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
}
case FIRST_TIME_WITHOUT_PACK :
{
- FrameBasePtr kfrm = getProblem()->emplaceFrame(ESTIMATED_FRAME, incoming_ptr_->getTimeStamp());
+ FrameBasePtr kfrm = getProblem()->emplaceFrame(ESTIMATED, incoming_ptr_->getTimeStamp());
kfrm->addCapture(incoming_ptr_);
// Process info
diff --git a/test/gtest_IMU.cpp b/test/gtest_IMU.cpp
index 0a78f0888b6331a46bd2d6f52c5774cdcef8c1ed..7f3f2b7da7d22e61807811ba8de681570bed9bf9 100644
--- a/test/gtest_IMU.cpp
+++ b/test/gtest_IMU.cpp
@@ -480,7 +480,7 @@ class Process_Factor_IMU : public testing::Test
virtual void buildProblem()
{
// ===================================== SET KF in Wolf tree
- FrameBasePtr KF = problem->emplaceFrame(ESTIMATED_FRAME, x1_exact, t);
+ FrameBasePtr KF = problem->emplaceFrame(ESTIMATED, x1_exact, t);
// ===================================== IMU CALLBACK
problem->keyFrameCallback(KF, nullptr, dt/2);
diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp
index 67221f23c3dd661de1e7265e8ba974d8765a6f52..cab3872e9996bea69aab54f84b59b5b5a1e253b3 100644
--- a/test/gtest_ceres_manager.cpp
+++ b/test/gtest_ceres_manager.cpp
@@ -318,7 +318,7 @@ TEST(CeresManager, AddFactor)
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
@@ -340,7 +340,7 @@ TEST(CeresManager, DoubleAddFactor)
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
@@ -365,7 +365,7 @@ TEST(CeresManager, RemoveFactor)
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
@@ -393,7 +393,7 @@ TEST(CeresManager, AddRemoveFactor)
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
@@ -422,7 +422,7 @@ TEST(CeresManager, DoubleRemoveFactor)
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
@@ -549,7 +549,7 @@ TEST(CeresManager, FactorsRemoveLocalParam)
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) 2 factors quaternion
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorQuaternionAbsolutePtr c1 = std::static_pointer_cast<FactorQuaternionAbsolute>(f->addFactor(std::make_shared<FactorQuaternionAbsolute>(F->getO())));
@@ -591,7 +591,7 @@ TEST(CeresManager, FactorsUpdateLocalParam)
CeresManagerWrapperPtr ceres_manager_ptr = std::make_shared<CeresManagerWrapper>(P);
// Create (and add) 2 factors quaternion
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorQuaternionAbsolutePtr c1 = std::static_pointer_cast<FactorQuaternionAbsolute>(f->addFactor(std::make_shared<FactorQuaternionAbsolute>(F->getO())));
diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index 2c1eb508b40534208cba0e4f54ee2ec945ec8032..b445e4b1a77eb3f64d43c135ecebdec2855bf16d 100644
--- a/test/gtest_factor_absolute.cpp
+++ b/test/gtest_factor_absolute.cpp
@@ -35,7 +35,7 @@ ProblemPtr problem_ptr = Problem::create("POV 3D");
CeresManager ceres_mgr(problem_ptr);
// Two frames
-FrameBasePtr frm0 = problem_ptr->emplaceFrame(ESTIMATED_FRAME, problem_ptr->zeroState(), TimeStamp(0));
+FrameBasePtr frm0 = problem_ptr->emplaceFrame(ESTIMATED, problem_ptr->zeroState(), TimeStamp(0));
// Capture, feature and factor
CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>("IMU ABS", 0, nullptr, pose10, 10, 9, nullptr));
diff --git a/test/gtest_factor_autodiff_distance_3D.cpp b/test/gtest_factor_autodiff_distance_3D.cpp
index 27f5cd934144c2d81ec115c91a07c3a6db2c1774..44fac8f0a6bb464ec32e70bb39fbf884bdec5963 100644
--- a/test/gtest_factor_autodiff_distance_3D.cpp
+++ b/test/gtest_factor_autodiff_distance_3D.cpp
@@ -55,9 +55,9 @@ class FactorAutodiffDistance3D_Test : public testing::Test
problem = Problem::create("PO 3D");
ceres_manager = std::make_shared<CeresManager>(problem);
- F1 = problem->emplaceFrame (ESTIMATED_FRAME, pose1, 1.0);
+ F1 = problem->emplaceFrame (ESTIMATED, pose1, 1.0);
- F2 = problem->emplaceFrame (ESTIMATED_FRAME, pose2, 2.0);
+ F2 = problem->emplaceFrame (ESTIMATED, pose2, 2.0);
C2 = std::make_shared<CaptureBase>("Base", 1.0);
F2->addCapture(C2);
f2 = std::make_shared<FeatureBase>("Dist", dist, dist_cov);
diff --git a/test/gtest_factor_autodiff_trifocal.cpp b/test/gtest_factor_autodiff_trifocal.cpp
index c25ab6e8abbb30631464a09501521e8f9aa1b3a8..385ff3e4858ab7d242dccb0948b4241ed4ec34b9 100644
--- a/test/gtest_factor_autodiff_trifocal.cpp
+++ b/test/gtest_factor_autodiff_trifocal.cpp
@@ -133,19 +133,19 @@ class FactorAutodiffTrifocalTest : public testing::Test{
Vector2s pix(0,0);
Matrix2s pix_cov; pix_cov.setIdentity();
- F1 = problem->emplaceFrame(ESTIMATED_FRAME, pose1, 1.0);
+ F1 = problem->emplaceFrame(ESTIMATED, pose1, 1.0);
I1 = std::make_shared<CaptureImage>(1.0, camera, cv::Mat(2,2,CV_8UC1));
F1-> addCapture(I1);
f1 = std::make_shared<FeatureBase>("PIXEL", pix, pix_cov); // pixel at origin
I1-> addFeature(f1);
- F2 = problem->emplaceFrame(ESTIMATED_FRAME, pose2, 2.0);
+ F2 = problem->emplaceFrame(ESTIMATED, pose2, 2.0);
I2 = std::make_shared<CaptureImage>(2.0, camera, cv::Mat(2,2,CV_8UC1));
F2-> addCapture(I2);
f2 = std::make_shared<FeatureBase>("PIXEL", pix, pix_cov); // pixel at origin
I2-> addFeature(f2);
- F3 = problem->emplaceFrame(ESTIMATED_FRAME, pose3, 3.0);
+ F3 = problem->emplaceFrame(ESTIMATED, pose3, 3.0);
I3 = std::make_shared<CaptureImage>(3.0, camera, cv::Mat(2,2,CV_8UC1));
F3-> addCapture(I3);
f3 = std::make_shared<FeatureBase>("PIXEL", pix, pix_cov); // pixel at origin
diff --git a/test/gtest_factor_odom_3D.cpp b/test/gtest_factor_odom_3D.cpp
index 57ebd34819730a22449e821b3171b0616bc89552..b7c8e5899d8036e0cf8338793482c3fec700059c 100644
--- a/test/gtest_factor_odom_3D.cpp
+++ b/test/gtest_factor_odom_3D.cpp
@@ -37,8 +37,8 @@ ProblemPtr problem_ptr = Problem::create("PO 3D");
CeresManager ceres_mgr(problem_ptr);
// Two frames
-FrameBasePtr frm0 = problem_ptr->emplaceFrame(ESTIMATED_FRAME, problem_ptr->zeroState(), TimeStamp(0));
-FrameBasePtr frm1 = problem_ptr->emplaceFrame(ESTIMATED_FRAME, delta, TimeStamp(1));
+FrameBasePtr frm0 = problem_ptr->emplaceFrame(ESTIMATED, problem_ptr->zeroState(), TimeStamp(0));
+FrameBasePtr frm1 = problem_ptr->emplaceFrame(ESTIMATED, delta, TimeStamp(1));
// Capture, feature and factor from frm1 to frm0
CaptureBasePtr cap1 = frm1->addCapture(std::make_shared<CaptureMotion>("ODOM 3D", 1, nullptr, delta, 7, 6, nullptr));
diff --git a/test/gtest_factor_pose_2D.cpp b/test/gtest_factor_pose_2D.cpp
index fc8c8464a03189bb03d4694bb44dcc94495bcea3..aa1b2db5d9d1c2a64c0a28ba53bffb4fe0eb130a 100644
--- a/test/gtest_factor_pose_2D.cpp
+++ b/test/gtest_factor_pose_2D.cpp
@@ -30,7 +30,7 @@ ProblemPtr problem = Problem::create("PO 2D");
CeresManager ceres_mgr(problem);
// Two frames
-FrameBasePtr frm0 = problem->emplaceFrame(ESTIMATED_FRAME, problem->zeroState(), TimeStamp(0));
+FrameBasePtr frm0 = problem->emplaceFrame(ESTIMATED, problem->zeroState(), TimeStamp(0));
// Capture, feature and factor from frm1 to frm0
CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>("ODOM 2D", 0, nullptr, pose, 3, 3, nullptr));
diff --git a/test/gtest_factor_pose_3D.cpp b/test/gtest_factor_pose_3D.cpp
index 599cc990b93158e7b4013c3162257a9b99fd1a09..e7f91dc2d995debc25bb97215cc295039b20971e 100644
--- a/test/gtest_factor_pose_3D.cpp
+++ b/test/gtest_factor_pose_3D.cpp
@@ -36,7 +36,7 @@ ProblemPtr problem = Problem::create("PO 3D");
CeresManager ceres_mgr(problem);
// Two frames
-FrameBasePtr frm0 = problem->emplaceFrame(ESTIMATED_FRAME, problem->zeroState(), TimeStamp(0));
+FrameBasePtr frm0 = problem->emplaceFrame(ESTIMATED, problem->zeroState(), TimeStamp(0));
// Capture, feature and factor
CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>("ODOM 3D", 0, nullptr, pose7, 7, 6, nullptr));
diff --git a/test/gtest_feature_IMU.cpp b/test/gtest_feature_IMU.cpp
index 707c9b7b9ac00badee9cf3b627b56007bfddda20..62d35124a43ff0f54b4756e5863fba619e7d198b 100644
--- a/test/gtest_feature_IMU.cpp
+++ b/test/gtest_feature_IMU.cpp
@@ -77,7 +77,7 @@ class FeatureIMU_test : public testing::Test
//create Frame
ts = problem->getProcessorMotion()->getBuffer().get().back().ts_;
state_vec = problem->getProcessorMotion()->getCurrentState();
- last_frame = std::make_shared<FrameBase>(ESTIMATED_FRAME, ts, std::make_shared<StateBlock>(state_vec.head(3)), std::make_shared<StateBlock>(state_vec.segment(3,4)), std::make_shared<StateBlock>(state_vec.head(3)));
+ last_frame = std::make_shared<FrameBase>(ESTIMATED, ts, std::make_shared<StateBlock>(state_vec.head(3)), std::make_shared<StateBlock>(state_vec.segment(3,4)), std::make_shared<StateBlock>(state_vec.head(3)));
problem->getTrajectory()->addFrame(last_frame);
//create a feature
diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp
index 3890a0f1e3c2fb12ebdd429b58b2281280ffa3f7..4e53df9c386831cbc4b32966de129c49f46e649d 100644
--- a/test/gtest_odom_2D.cpp
+++ b/test/gtest_odom_2D.cpp
@@ -131,7 +131,7 @@ TEST(Odom2D, FactorFix_and_FactorOdom2D)
// KF1 and motion from KF0
t += dt;
- FrameBasePtr F1 = Pr->emplaceFrame(ESTIMATED_FRAME, Vector3s::Zero(), t);
+ FrameBasePtr F1 = Pr->emplaceFrame(ESTIMATED, Vector3s::Zero(), t);
CaptureBasePtr C1 = F1->addCapture(std::make_shared<CaptureBase>("ODOM 2D", t));
FeatureBasePtr f1 = C1->addFeature(std::make_shared<FeatureBase>("ODOM 2D", delta, delta_cov));
FactorBasePtr c1 = f1->addFactor(std::make_shared<FactorOdom2D>(f1, F0, nullptr));
@@ -139,7 +139,7 @@ TEST(Odom2D, FactorFix_and_FactorOdom2D)
// KF2 and motion from KF1
t += dt;
- FrameBasePtr F2 = Pr->emplaceFrame(ESTIMATED_FRAME, Vector3s::Zero(), t);
+ FrameBasePtr F2 = Pr->emplaceFrame(ESTIMATED, Vector3s::Zero(), t);
CaptureBasePtr C2 = F2->addCapture(std::make_shared<CaptureBase>("ODOM 2D", t));
FeatureBasePtr f2 = C2->addFeature(std::make_shared<FeatureBase>("ODOM 2D", delta, delta_cov));
FactorBasePtr c2 = f2->addFactor(std::make_shared<FactorOdom2D>(f2, F1, nullptr));
@@ -404,7 +404,7 @@ TEST(Odom2D, KF_callback)
std::cout << "-----------------------------\nSplit after last KF; time: " << t_split << std::endl;
Vector3s x_split = processor_odom2d->getState(t_split);
- FrameBasePtr keyframe_2 = problem->emplaceFrame(ESTIMATED_FRAME, x_split, t_split);
+ FrameBasePtr keyframe_2 = problem->emplaceFrame(ESTIMATED, x_split, t_split);
ASSERT_TRUE(problem->check(0));
processor_odom2d->keyFrameCallback(keyframe_2, dt/2);
@@ -436,7 +436,7 @@ TEST(Odom2D, KF_callback)
problem->print(4,1,1,1);
x_split = processor_odom2d->getState(t_split);
- FrameBasePtr keyframe_1 = problem->emplaceFrame(ESTIMATED_FRAME, x_split, t_split);
+ FrameBasePtr keyframe_1 = problem->emplaceFrame(ESTIMATED, x_split, t_split);
ASSERT_TRUE(problem->check(0));
processor_odom2d->keyFrameCallback(keyframe_1, dt/2);
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 52ce84f5670b54b3df1daf00829968f87db696c7..274d3e951469ec3b592b7d546c784565a769f44c 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -177,9 +177,9 @@ TEST(Problem, emplaceFrame_factory)
{
ProblemPtr P = Problem::create("PO 2D");
- FrameBasePtr f0 = P->emplaceFrame("PO 2D", ESTIMATED_FRAME, VectorXs(3), TimeStamp(0.0));
- FrameBasePtr f1 = P->emplaceFrame("PO 3D", ESTIMATED_FRAME, VectorXs(7), TimeStamp(1.0));
- FrameBasePtr f2 = P->emplaceFrame("POV 3D", ESTIMATED_FRAME, VectorXs(10), TimeStamp(2.0));
+ FrameBasePtr f0 = P->emplaceFrame("PO 2D", ESTIMATED, VectorXs(3), TimeStamp(0.0));
+ FrameBasePtr f1 = P->emplaceFrame("PO 3D", ESTIMATED, VectorXs(7), TimeStamp(1.0));
+ FrameBasePtr f2 = P->emplaceFrame("POV 3D", ESTIMATED, VectorXs(10), TimeStamp(2.0));
// std::cout << "f0: type PO 2D? " << f0->getType() << std::endl;
// std::cout << "f1: type PO 3D? " << f1->getType() << std::endl;
@@ -225,7 +225,7 @@ TEST(Problem, StateBlocks)
ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");
// 2 state blocks, estimated
- P->emplaceFrame("PO 3D", ESTIMATED_FRAME, xs, 0);
+ P->emplaceFrame("PO 3D", ESTIMATED, xs, 0);
ASSERT_EQ(P->getStateBlockPtrList().size(), (unsigned int)(2 + 3 + 2));
ASSERT_EQ(P->getStateBlockNotificationMap().size(), (unsigned int)(2 + 3 + 2));
@@ -260,7 +260,7 @@ TEST(Problem, Covariances)
// 4 state blocks, estimated
St->unfixExtrinsics();
- FrameBasePtr F = P->emplaceFrame("PO 3D", ESTIMATED_FRAME, xs, 0);
+ FrameBasePtr F = P->emplaceFrame("PO 3D", ESTIMATED, xs, 0);
// set covariance (they are not computed without a solver)
P->addCovarianceBlock(F->getP(), Eigen::Matrix3s::Identity());
diff --git a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
index d9d45a241795c16df77fb1c852d16dd4638dc4d7..281ecaafb55dc85a1b8b63f4b0fad13a995b936f 100644
--- a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
+++ b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
@@ -72,19 +72,19 @@ TEST(ProcessorFrameNearestNeighborFilter, PointInEllipseRotated)
auto stateblock_optr4 = std::make_shared<wolf::StateBlock>(state4.tail<1>());
// create Keyframes
- F1 = std::make_shared<wolf::FrameBase>(wolf::ESTIMATED_FRAME,
+ F1 = std::make_shared<wolf::FrameBase>(wolf::ESTIMATED,
1,
stateblock_pptr1,
stateblock_optr1);
- F2 = std::make_shared<wolf::FrameBase>(wolf::ESTIMATED_FRAME,
+ F2 = std::make_shared<wolf::FrameBase>(wolf::ESTIMATED,
1,
stateblock_pptr2,
stateblock_optr2);
- F3 = std::make_shared<wolf::FrameBase>(wolf::ESTIMATED_FRAME,
+ F3 = std::make_shared<wolf::FrameBase>(wolf::ESTIMATED,
1,
stateblock_pptr3,
stateblock_optr3);
- F4 = std::make_shared<wolf::FrameBase>(wolf::ESTIMATED_FRAME,
+ F4 = std::make_shared<wolf::FrameBase>(wolf::ESTIMATED,
1,
stateblock_pptr4,
stateblock_optr4);
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index a93bf8d90dd250b8658d25ab75a9e697ff30b297..b6951b1254150a5a749b678515312b42f2627e58 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -505,7 +505,7 @@ TEST(SolverManager, AddFactor)
StateBlockPtr sb_ptr = std::make_shared<StateBlock>(state);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
@@ -527,7 +527,7 @@ TEST(SolverManager, RemoveFactor)
StateBlockPtr sb_ptr = std::make_shared<StateBlock>(state);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
@@ -555,7 +555,7 @@ TEST(SolverManager, AddRemoveFactor)
StateBlockPtr sb_ptr = std::make_shared<StateBlock>(state);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
@@ -584,7 +584,7 @@ TEST(SolverManager, DoubleRemoveFactor)
StateBlockPtr sb_ptr = std::make_shared<StateBlock>(state);
// Create (and add) factor point 2d
- FrameBasePtr F = P->emplaceFrame(ESTIMATED_FRAME, P->zeroState(), TimeStamp(0));
+ FrameBasePtr F = P->emplaceFrame(ESTIMATED, P->zeroState(), TimeStamp(0));
CaptureBasePtr C = F->addCapture(std::make_shared<CaptureVoid>(0, nullptr));
FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()));
FactorPose2DPtr c = std::static_pointer_cast<FactorPose2D>(f->addFactor(std::make_shared<FactorPose2D>(f)));
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 618ff1fc54df6f95029a40d222c5d71b4debed93..472e4e4cfe18f6fcd39b253c8452d434f1245759 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -69,8 +69,8 @@ TEST(TrajectoryBase, ClosestKeyFrame)
// 1 2 3 time stamps
// --+-----+-----+---> time
- FrameBasePtr f1 = std::make_shared<FrameBase>(ESTIMATED_FRAME, 1, nullptr, nullptr);
- FrameBasePtr f2 = std::make_shared<FrameBase>(ESTIMATED_FRAME, 2, nullptr, nullptr);
+ FrameBasePtr f1 = std::make_shared<FrameBase>(ESTIMATED, 1, nullptr, nullptr);
+ FrameBasePtr f2 = std::make_shared<FrameBase>(ESTIMATED, 2, nullptr, nullptr);
FrameBasePtr f3 = std::make_shared<FrameBase>(NON_ESTIMATED, 3, nullptr, nullptr);
T->addFrame(f1);
T->addFrame(f2);
@@ -108,8 +108,8 @@ TEST(TrajectoryBase, Add_Remove_Frame)
// 1 2 3 time stamps
// --+-----+-----+---> time
- FrameBasePtr f1 = std::make_shared<FrameBase>(ESTIMATED_FRAME, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // 2 non-fixed
- FrameBasePtr f2 = std::make_shared<FrameBase>(ESTIMATED_FRAME, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1, true)); // 1 fixed, 1 not
+ FrameBasePtr f1 = std::make_shared<FrameBase>(ESTIMATED, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // 2 non-fixed
+ FrameBasePtr f2 = std::make_shared<FrameBase>(ESTIMATED, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1, true)); // 1 fixed, 1 not
FrameBasePtr f3 = std::make_shared<FrameBase>(NON_ESTIMATED, 3, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // non-key-frame
std::cout << __LINE__ << std::endl;
@@ -189,8 +189,8 @@ TEST(TrajectoryBase, KeyFramesAreSorted)
// 1 2 3 time stamps
// --+-----+-----+---> time
- FrameBasePtr f1 = std::make_shared<FrameBase>(ESTIMATED_FRAME, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // 2 non-fixed
- FrameBasePtr f2 = std::make_shared<FrameBase>(ESTIMATED_FRAME, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1, true)); // 1 fixed, 1 not
+ FrameBasePtr f1 = std::make_shared<FrameBase>(ESTIMATED, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // 2 non-fixed
+ FrameBasePtr f2 = std::make_shared<FrameBase>(ESTIMATED, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1, true)); // 1 fixed, 1 not
FrameBasePtr f3 = std::make_shared<FrameBase>(NON_ESTIMATED, 3, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); // non-key-frame
// add frames and keyframes in random order --> keyframes must be sorted after that