Resolve "Processor motion model"

Closes #407 (closed)

test/gtest_processor_fix_wing_model.cpp

@@ -3,6 +3,7 @@
 #include "core/problem/problem.h"
 #include "core/ceres_wrapper/solver_ceres.h"
 #include "core/processor/processor_fix_wing_model.h"
+#include "core/state_block/state_quaternion.h"
 
 // STL
 #include <iterator>
@@ -72,10 +73,14 @@ TEST_F(ProcessorFixWingModelTest, keyFrameCallback)
     ASSERT_EQ(cap->getFeatureList().size(), 1);
 
     // check one factor
-    auto fac = frm1->getFactorOf(processor, "FactorVelocityLocalDirection3d");
+    //auto fac = frm1->getFactorOf(processor, "FactorVelocityLocalDirection3d");
+    auto fac = frm1->getFactorOf(processor);
+    WOLF_INFO("processor ", processor);
+    WOLF_INFO("factor processor ", cap->getFeatureList().front()->getFactorList().front()->getProcessor());
     ASSERT_TRUE(fac != nullptr);
+    WOLF_INFO("fac type", fac->getType());
     ASSERT_TRUE(fac->getFeature() != nullptr);
-    ASSERT_TRUE(fac->getCapture() == frm1->getCaptureOf(sensor));
+    ASSERT_TRUE(fac->getCapture() == cap);
 }
 
 TEST_F(ProcessorFixWingModelTest, keyFrameCallbackRepeated)