New constructor agreeing with general wolf API norms

include/laser/sensor/sensor_laser_2D.h

@@ -56,6 +56,7 @@ class SensorLaser2D : public SensorBase
         SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const laserscanutils::LaserScanParams& _params);
         SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const IntrinsicsLaser2D& _params);
         SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, IntrinsicsLaser2DPtr _params);
+        SensorLaser2D(const Eigen::VectorXs& _extrinsics, IntrinsicsLaser2DPtr _params);
 
         virtual ~SensorLaser2D();
 

src/sensor/sensor_laser_2D.cpp

 #include "laser/sensor/sensor_laser_2D.h"
 #include "core/state_block/state_block.h"
+#include "core/state_block/state_angle.h"
 
 namespace wolf {
 
@@ -36,6 +37,13 @@ SensorLaser2D::SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, Intrins
     //
 }
 
+SensorLaser2D::SensorLaser2D(const Eigen::VectorXs& _extrinsics, IntrinsicsLaser2DPtr _params) :
+        SensorLaser2D(std::make_shared<StateBlock>(_extrinsics.head(2), true, nullptr),
+                      std::make_shared<StateAngle>(_extrinsics(2), true),
+                      _params)
+{
+}
+
 SensorLaser2D::~SensorLaser2D()
 {
     //
@@ -103,9 +111,6 @@ SensorBasePtr SensorLaser2D::createAutoConf(const std::string& _unique_name, con
 //#include "intrinsics_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("LASER 2D", SensorLaser2D)
-//const bool registered_laser_params = IntrinsicsFactory::get().registerCreator("LASER 2D", createIntrinsicsLaser2D);
-} // namespace wolf
-#include "core/sensor/autoconf_sensor_factory.h"
-namespace wolf {
 WOLF_REGISTER_SENSOR_AUTO("LASER 2D", SensorLaser2D)
 } // namespace wolf
+