Implemented all object slam classes, very simple processor WIP

test/map_objects.yaml

+map name: "Example of map of Object landmarks"
+
+nlandmarks: 4          # This must match the number of landmarks in the list that follows. Otherwise it is an error.
+
+landmarks:
+
+  - id : 1                    # use same as tag id
+    type: "LandmarkObject"          # This must match the KEY used in the FactoryLandmark. Otherwise it is an error.
+    object type: "obj1"
+    position: [0, 0, 0]
+    orientation: [0, 0, 0]    # roll pitch yaw in degrees
+    position fixed: true
+    orientation fixed: true
+
+  - id : 2                    # use same as tag id
+    type: "LandmarkObject"          # This must match the KEY used in the FactoryLandmark. Otherwise it is an error.
+    object type: "obj2"
+    position: [0, 0, 0]
+    orientation: [0, 0, 0]    # roll pitch yaw in degrees
+    position fixed: true
+    orientation fixed: true
+
+  - id : 3                    # use same as tag id
+    type: "LandmarkObject"          # This must match the KEY used in the FactoryLandmark. Otherwise it is an error.
+    object type: "obj3"
+    position: [0, 0, 0]
+    orientation: [0, 0, 0]    # roll pitch yaw in degrees
+    position fixed: true
+    orientation fixed: true
+
+  - id : 4                    # use same as tag id
+    type: "LandmarkObject"          # This must match the KEY used in the FactoryLandmark. Otherwise it is an error.
+    object type: "obj4"
+    position: [0, 0, 0]
+    orientation: [0, 0, 0]    # roll pitch yaw in degrees
+    position fixed: true
+    orientation fixed: true
+

test/map_objects_save.yaml

+map name: Map automatically saved by Wolf
+date-time: 06/06/2021 at 13:38:55
+nlandmarks: 4
+landmarks:
+  - {position fixed: true, id: 1, position: [0, 0, 0], orientation: [0, 0, 0, 1], object type: obj1, type: LandmarkObject, orientation fixed: true}
+  - {type: LandmarkObject, position: [0, 0, 0], orientation: [0, 0, 0, 1], orientation fixed: true, object type: obj2, id: 2, position fixed: true}
+  - {position fixed: true, id: 3, type: LandmarkObject, object type: obj3, orientation: [0, 0, 0, 1], orientation fixed: true, position: [0, 0, 0]}
+  - {orientation: [0, 0, 0, 1], type: LandmarkObject, position fixed: true, position: [0, 0, 0], orientation fixed: true, object type: obj4, id: 4}
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test/processor_tracker_landmark_object.yaml

+type: "ProcessorTrackerLandmarkObject"
+    
+vote:
+    voting active:              true
+    min_time_vote:              0 # s
+    max_time_vote:              0 # s
+    min_features_for_keyframe:  12
+    nb_vote_for_every_first:    50
+
+reestimate_last_frame: true   # for a better prior on the new keyframe: use only if no motion processor
+add_3d_cstr: true             # add 3D constraints between the KF so that they do not jump when using apriltag only
+max_new_features: -1
+apply_loss_function: true
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