Resolve "adapt to state derived in core"

Closes #3 (closed)

include/objectslam/landmark/landmark_object.h

+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef LANDMARK_OBJECT_H_
 #define LANDMARK_OBJECT_H_
 
 //Wolf includes
 #include <core/landmark/landmark_base.h>
-#include <core/state_block/state_quaternion.h>
 
 namespace wolf {
 
@@ -22,7 +42,7 @@ class LandmarkObject : public LandmarkBase
          * \param _t_init : timestamp of the landmark's initialization
          *
          **/
-		LandmarkObject(Eigen::Vector7d& _pose, const std::string& _object_type, const TimeStamp& _t_init, const Matrix3d& _intrinsic);
+		LandmarkObject(Eigen::Vector7d& _pose, const std::string& _object_type, const TimeStamp& _t_init);
 
         ~LandmarkObject() override;
         
@@ -31,21 +51,11 @@ class LandmarkObject : public LandmarkBase
          **/
         const std::string& getObjectType() const;
 
-        /** \brief Returns the intrinsic matrix
-         * 
-         **/
-        const Matrix3d& getIntrinsic() const;
-
         /** \brief Returns the initialisation timestamp
          * 
          **/
         const TimeStamp& getInitTimestamp() const;
         
-        /** \brief Returns the position in the image coordinate
-         * 
-         **/
-        const Vector2d getImageCoord() const;
-
         /** Factory method to create new landmarks from YAML nodes
          */
         static LandmarkBasePtr create(const YAML::Node& _lmk_node);
@@ -56,7 +66,6 @@ class LandmarkObject : public LandmarkBase
     private:
         const std::string object_type_;
         const TimeStamp t_init_;
-        const Matrix3d intrinsic_;
         
 };