using _value in schemas

include/core/factor/factor_block_difference.h

@@ -24,6 +24,7 @@
 #include "core/factor/factor_analytic.h"
 #include "core/frame/frame_base.h"
 #include "core/math/rotations.h"
+#include "core/state_block/state_angle.h"
 
 namespace wolf
 {

schema/problem/Problem2d.schema

@@ -7,7 +7,6 @@ problem:
       follow: SpecStateO2d.schema
   dimension:
     _type: int
-    _mandatory: false
-    _default: 2
+    _mandatory: true
     _options: [2]
     _doc: "Dimension of the problem: '2' for 2D"
\ No newline at end of file

schema/problem/Problem3d.schema

@@ -7,7 +7,6 @@ problem:
       follow: SpecStateO3d.schema
   dimension:
     _type: int
-    _mandatory: false
-    _default: 3
+    _mandatory: true
     _options: [3]
     _doc: "Dimension of the problem: '3' for 3D"
\ No newline at end of file

schema/sensor/SensorDiffDrive.schema

 follow: SensorBase.schema
 
-type:
-  _mandatory: false
-  _type: string
-  _default: SensorDiffDrive
-  _options: [SensorDiffDrive]
-  _doc: The sensor's class name.
-
-plugin:
-  _mandatory: false
-  _type: string
-  _default: core
-  _options: [core]
-  _doc: The name of the wolf plugin where the sensor is implemented.
-
 ticks_per_wheel_revolution:
   _mandatory: true
   _type: double
@@ -34,8 +20,7 @@ states:
     type:
       _type: string
       _mandatory: false
-      _default: StateParams3
-      _options: [StateParams3]
+      _value: StateParams3
       _doc: The type of the SensorDiffDrive intrinsic parameters is StateParam3.
     state:
       _type: Vector3d

schema/sensor/SensorOdom3d.schema

 follow: SensorBase.schema
 
-type:
-  _mandatory: false
-  _type: string
-  _default: SensorOdom3d
-  _options: [SensorOdom3d]
-  _doc: The sensor's class name.
-
-plugin:
-  _mandatory: false
-  _type: string
-  _default: core
-  _options: [core]
-  _doc: The name of the wolf plugin where the sensor is implemented.
-
 k_disp_to_disp:
   _mandatory: true
   _type: double

schema/sensor/SpecStateSensorO2d.schema

@@ -3,8 +3,7 @@ follow: SpecStateSensor.schema
 type:
   _type: string
   _mandatory: false
-  _default: StateAngle
-  _options: [StateAngle]
+  _value: StateAngle
   _doc: The derived type of the StateBlock
 
 state:

schema/sensor/SpecStateSensorO3d.schema

@@ -3,8 +3,7 @@ follow: SpecStateSensor.schema
 type:
   _type: string
   _mandatory: false
-  _default: StateQuaternion
-  _options: [StateQuaternion]
+  _value: StateQuaternion
   _doc: The derived type of the State in 'O'
 
 state:

schema/sensor/SpecStateSensorP2d.schema

@@ -3,8 +3,7 @@ follow: SpecStateSensor.schema
 type:
   _type: string
   _mandatory: false
-  _default: StatePoint2d
-  _options: [StatePoint2d]
+  _value: StatePoint2d
   _doc: The derived type of the StateBlock
 
 state:

schema/sensor/SpecStateSensorP3d.schema

@@ -2,9 +2,8 @@ follow: SpecStateSensor.schema
 
 type:
   _type: string
-  _mandatory: false
-  _default: StatePoint3d
-  _options: [StatePoint3d]
+  _mandatory: true
+  _value: StatePoint3d
   _doc: The derived type of the state in 'P'
 
 state:

schema/state/SpecStateO2d.schema

@@ -3,8 +3,7 @@ follow: SpecState.schema
 type:
   _type: string
   _mandatory: false
-  _default: StateAngle
-  _options: [StateAngle]
+  _value: StateAngle
   _doc: The derived type of the State in 'O'
 
 state:

schema/state/SpecStateO3d.schema

@@ -3,8 +3,7 @@ follow: SpecState.schema
 type:
   _type: string
   _mandatory: false
-  _default: StateQuaternion
-  _options: [StateQuaternion]
+  _value: StateQuaternion
   _doc: The derived type of the State in 'O'
 
 state:

schema/state/SpecStateP2d.schema

@@ -3,8 +3,7 @@ follow: SpecState.schema
 type:
   _type: string
   _mandatory: false
-  _default: StatePoint2d
-  _options: [StatePoint2d]
+  _value: StatePoint2d
   _doc: The derived type of the state in 'P'
 
 state:

schema/state/SpecStateP3d.schema

 follow: SpecState.schema
 
 type:
-  _type: string
   _mandatory: false
-  _default: StatePoint3d
-  _options: [StatePoint3d]
+  _type: string
+  _value: StatePoint3d
   _doc: The derived type of the state in 'P'
 
 state:

schema/state/SpecStateV2d.schema

@@ -3,8 +3,7 @@ follow: SpecState.schema
 type:
   _type: string
   _mandatory: false
-  _default: StateVector2d
-  _options: [StateVector2d]
+  _value: StateVector2d
   _doc: The derived type of the state in 'V'
 
 state:

schema/state/SpecStateV3d.schema

@@ -3,8 +3,7 @@ follow: SpecState.schema
 type:
   _type: string
   _mandatory: false
-  _default: StateVector3d
-  _options: [StateVector3d]
+  _value: StateVector3d
   _doc: The derived type of the state in 'V'
 
 state:

schema/tree_manager/TreeManagerSlidingWindow.schema

 follow: TreeManagerBase.schema
 
-type:
-  _mandatory: true
-  _type: string
-  _doc: Type of the TreeManager. To keep all frames, use "none".
-
 n_frames:
   _mandatory: true
   _type: unsigned int