New FrameBase::emplace clashes with Problem::emplaceFrame and Frame creation in general
Currently src/problem.cpp
has the method Problem::emplaceFrame
which creates and links frames via a FrameBase
factory. The new methodology introduced in MR !256 (merged) requires that nodes emplace themselves within the tree (as opposed to their parent node doing so). Therefore,
FrameBasePtr frm = FrameFactory::get().create(_frame_structure, _frame_key_type, _time_stamp, _frame_state);
trajectory_ptr_->addFrame(frm);
Should be replaced by
auto frm = FrameBase::emplace<FrameBase>(shared_from_this(), _frame_structure, _frame_key_type, _time_stamp, _frame_state);
This change implies some changes in the current pipeline to create frames so it needs to be discussed.