Improve creator of prc diff drv

src/processor/processor_diff_drive.cpp

@@ -187,19 +187,9 @@ FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
 
 ProcessorBasePtr ProcessorDiffDrive::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
 {
+    auto params = std::make_shared<ProcessorParamsDiffDrive>(_unique_name, _server);
 
-    ProcessorDiffDrivePtr prc_ptr;
-
-    std::shared_ptr<ProcessorParamsDiffDrive> params;
-    params = std::make_shared<ProcessorParamsDiffDrive>();
-    params->voting_active               = _server.getParam<bool>(_unique_name + "/voting_active");
-    params->time_tolerance              = _server.getParam<double>(_unique_name + "/time_tolerance");
-    params->max_time_span               = _server.getParam<double>(_unique_name + "/max_time_span");
-    params->dist_traveled               = _server.getParam<double>(_unique_name + "/dist_traveled"); // Will make KFs automatically every 1m displacement
-    params->angle_turned                = _server.getParam<double>(_unique_name + "/angle_turned");
-    params->unmeasured_perturbation_std = _server.getParam<double>(_unique_name + "/unmeasured_perturbation_std");
-
-    prc_ptr = std::make_shared<ProcessorDiffDrive>(params);
+    auto prc_ptr = std::make_shared<ProcessorDiffDrive>(params);
     prc_ptr->setName(_unique_name);
 
     return prc_ptr;

src/processor/processor_odom_2D.cpp

@@ -186,12 +186,9 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const
 
 ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
 {
-    ProcessorOdom2DPtr prc_ptr;
-
-    std::shared_ptr<ProcessorParamsOdom2D> params;
-    params = std::make_shared<ProcessorParamsOdom2D>(_unique_name, _server);
+    auto params = std::make_shared<ProcessorParamsOdom2D>(_unique_name, _server);
 
-    prc_ptr = std::make_shared<ProcessorOdom2D>(params);
+    auto prc_ptr = std::make_shared<ProcessorOdom2D>(params);
     prc_ptr->setName(_unique_name);
 
     return prc_ptr;