Resolve "Emplace API inconsistent with ProcessorTrackerFeature/Landmark functions"

Closes #191 (closed)

test/gtest_solver_manager.cpp

@@ -465,12 +465,17 @@ TEST(SolverManager, AddUpdatedStateBlock)
 
     // Fix --> FLAG
     sb_ptr->unfix();
+    // Check flag has been set true
+    ASSERT_TRUE(sb_ptr->fixUpdated());
 
     ASSERT_EQ(P->getStateBlockNotificationMapSize(),1); // No new notifications (fix and set state are flags in sb)
 
     // == consume empties the notification map ==
     solver_manager_ptr->update(); // it calls P->consumeStateBlockNotificationMap();
     ASSERT_EQ(P->getStateBlockNotificationMapSize(),0);
+    // Check flags have been reset
+    ASSERT_FALSE(sb_ptr->fixUpdated());
+    ASSERT_FALSE(sb_ptr->stateUpdated());
 
     // == When an REMOVE is notified: a REMOVE notification should be stored ==
 
@@ -481,10 +486,9 @@ TEST(SolverManager, AddUpdatedStateBlock)
     ASSERT_TRUE(P->getStateBlockNotification(sb_ptr, notif));
     ASSERT_EQ(notif, REMOVE);
 
-    // == ADD + REMOVE: notification map should be empty ==
+    // == REMOVE + ADD: notification map should be empty ==
     P->notifyStateBlock(sb_ptr,ADD);
-    P->notifyStateBlock(sb_ptr,REMOVE);
-    ASSERT_TRUE(P->getStateBlockNotificationMapSize() == 0);
+    ASSERT_EQ(P->getStateBlockNotificationMapSize(),0);
 
     // == UPDATES should clear the list of notifications ==
     // add state_block
@@ -494,6 +498,11 @@ TEST(SolverManager, AddUpdatedStateBlock)
     solver_manager_ptr->update();
 
     ASSERT_EQ(P->getStateBlockNotificationMapSize(),0); // After solver_manager->update, notifications should be empty
+
+    // == ADD + REMOVE: notification map should be empty ==
+    P->notifyStateBlock(sb_ptr,ADD);
+    P->notifyStateBlock(sb_ptr,REMOVE);
+    ASSERT_EQ(P->getStateBlockNotificationMapSize(),0);
 }
 
 TEST(SolverManager, AddFactor)