Resolve "ProcessorLoopClosureBase class"

Closes #220 (closed)

include/core/processor/processor_loopclosure_base2.h

@@ -21,6 +21,7 @@ struct ProcessorParamsLoopClosure2 : public ProcessorParamsBase
  *
  * This is an abstract class.
  * + You must define the following classes :
+ *   - voteComputeFeatures()
  *   - voteSearchLoopClosure()
  *   - computeFeatures()
  *   - findLoopCandidate()
@@ -63,21 +64,15 @@ public:
 
 protected:
 
-    /** \brief Called by process(). Tells if processLoopClosure will be called
+    /** \brief Called by process(). Tells if computeFeatures() will be called
      */
-    virtual bool voteSearchLoopClosure(CaptureBasePtr _incoming_ptr) = 0;
+    virtual bool voteComputeFeatures(CaptureBasePtr _incoming_ptr) = 0;
 
-    /** \brief Tries to close a loop
+    /** \brief Called by process(). Tells if findLoopCandidate() and createFactors() will be called
      *
-     * this method is called in process() if voteSearchLoopClosure retruns true
-     * this method uses :
-     * - selectPairKC()
-     * - computeFeatures()
-     * - findLoopCandidate()
-     * - validateLoop()
-     * - createFactors()
+     * WARNING : A LC can be searched only when voteComputeFeatures() return true
      */
-    void processLoopClosure(void);
+    virtual bool voteSearchLoopClosure(CaptureBasePtr _incoming_ptr) = 0;
 
     /** \brief returns a KeyFrame-Capture pair compatible together (selected from the buffers)
      *