Improve creator macros and constructor API

include/core/processor/processor_base.h

@@ -22,15 +22,13 @@ namespace wolf {
 /*
  * Macro for defining Autoconf processor creator.
  *
+ * Place a call to this macro inside your class declaration (in the processor_class.h file),
+ * preferably just after the constructors.
+ *
  * In order to use this macro, the derived processor class, ProcessorClass,
- * must have a constructor available with one of the following APIs:
+ * must have a constructor available with the API:
  *
  *   ProcessorClass(const SensorClassPtr _sensor, const ProcessorParamsClassPtr _params);
- *   ProcessorClass(const SensorClassPtr _sensor, const ProcessorParamsBasePtr  _params);
- *   ProcessorClass(const SensorBasePtr  _sensor, const ProcessorParamsClassPtr _params);
- *   ProcessorClass(const SensorBasePtr  _sensor, const ProcessorParamsBasePtr  _params);
- *
- * We recommend writing one of such constructors in your derived processors.
  */
 #define WOLF_CREATE_PROCESSOR_AUTO(ProcessorClass, ProcessorParamsClass, SensorClass)   \
 static ProcessorBasePtr createAutoConf(const std::string& _unique_name,                 \

include/core/sensor/sensor_base.h

@@ -22,11 +22,13 @@ namespace wolf {
 /*
  * Macro for defining Autoconf sensor creator.
  *
+ * Place a call to this macro inside your class declaration (in the sensor_class.h file),
+ * preferably just after the constructors.
+ *
  * In order to use this macro, the derived sensor class, SensorClass,
- * must have a constructor available with one of the following APIs:
+ * must have a constructor available with the API:
  *
  *   SensorClass(const VectorXs & _extrinsics, const IntrinsicsClassPtr _intrinsics);
- *   SensorClass(const VectorXs & _extrinsics, const IntrinsicsBasePtr  _intrinsics);
  *
  * We recommend writing one of such constructors in your derived sensors.
  */

src/processor/processor_diff_drive.cpp

@@ -16,7 +16,7 @@
 namespace wolf
 {
 
-ProcessorDiffDrive::ProcessorDiffDrive(ProcessorParamsDiffDrivePtr _params) :
+ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrivePtr _params) :
         ProcessorOdom2D(_params),
         params_prc_diff_drv_selfcal_(_params),
         radians_per_tick_(0.0) // This params needs further initialization. See this->configure(sensor).