Estimated frames

Implementing #183 (closed)

hello_wolf/hello_wolf.cpp

@@ -225,7 +225,7 @@ int main()
             if (sb && !sb->isFixed())
                 sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5);       // We perturb A LOT !
     for (auto kf : problem->getTrajectory()->getFrameList())
-        if (kf->isKey())
+        if (kf->isKeyOrAux())
             for (auto sb : kf->getStateBlockVec())
                 if (sb && !sb->isFixed())
                     sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5);   // We perturb A LOT !
@@ -245,7 +245,7 @@ int main()
     WOLF_TRACE("======== COVARIANCES OF SOLVED PROBLEM =======")
     ceres->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
     for (auto kf : problem->getTrajectory()->getFrameList())
-        if (kf->isKey())
+        if (kf->isKeyOrAux())
         {
             Eigen::MatrixXs cov;
             kf->getCovariance(cov);