Revert "Add check sensor type processors"

This reverts commit 12bc2974.

include/core/processor/processor_odom_2d.h

@@ -42,7 +42,7 @@ class ProcessorOdom2d : public ProcessorMotion
     public:
         ProcessorOdom2d(ParamsProcessorOdom2dPtr _params);
         virtual ~ProcessorOdom2d();
-        virtual void configure(SensorBasePtr _sensor) override;
+        virtual void configure(SensorBasePtr _sensor) override { };
 
         // Factory method for high level API
         WOLF_PROCESSOR_CREATE(ProcessorOdom2d, ParamsProcessorOdom2d);

src/processor/processor_diff_drive.cpp

@@ -36,8 +36,7 @@ void ProcessorDiffDrive::configure(SensorBasePtr _sensor)
 {
     assert(_sensor && "Provided sensor is nullptr");
 
-    SensorDiffDriveConstPtr sensor_diff_drive = std::dynamic_pointer_cast<SensorDiffDrive>(_sensor);
-    assert(sensor_diff_drive != nullptr && "Sensor is not of type SensorDiffDrive");
+    SensorDiffDriveConstPtr sensor_diff_drive = std::static_pointer_cast<SensorDiffDrive>(_sensor);
 
     radians_per_tick_ = sensor_diff_drive->getRadiansPerTick();
 }

src/processor/processor_odom_2d.cpp

@@ -16,11 +16,6 @@ ProcessorOdom2d::~ProcessorOdom2d()
 {
 }
 
-void ProcessorOdom2d::configure(SensorBasePtr _sensor)
-{
-    auto sensor_       = std::dynamic_pointer_cast<SensorOdom2d>(_sensor);
-    assert(sensor_ != nullptr && "Sensor is not of type SensorOdom2d");
-}
 void ProcessorOdom2d::computeCurrentDelta(const Eigen::VectorXd& _data, const Eigen::MatrixXd& _data_cov,
                                           const Eigen::VectorXd& _calib, const double _dt, Eigen::VectorXd& _delta,
                                           Eigen::MatrixXd& _delta_cov, Eigen::MatrixXd& _jacobian_calib) const

src/processor/processor_odom_3d.cpp

@@ -21,8 +21,8 @@ ProcessorOdom3d::~ProcessorOdom3d()
 void ProcessorOdom3d::configure(SensorBasePtr _sensor)
 {
     assert (_sensor && "Trying to configure processor with a sensor but provided sensor is nullptr.");
-    auto sen_ptr = std::dynamic_pointer_cast<SensorOdom3d>(_sensor);
-    assert(sen_ptr != nullptr && "Sensor is not of type SensorOdom3d");
+
+    SensorOdom3dPtr sen_ptr = std::static_pointer_cast<SensorOdom3d>(_sensor);
 
     // we steal the parameters from the provided odom3d sensor.
     k_disp_to_disp_ = sen_ptr->getDispVarToDispNoiseFactor();
@@ -151,7 +151,7 @@ void ProcessorOdom3d::deltaPlusDelta(const Eigen::VectorXd& _delta1, const Eigen
 
 void ProcessorOdom3d::statePlusDelta(const Eigen::VectorXd& _x, const Eigen::VectorXd& _delta, const double _Dt,
                                  Eigen::VectorXd& _x_plus_delta) const
-{
+{   
     assert(_x.size() >= x_size_ && "Wrong _x vector size"); //we need a state vector which size is at least x_size_
     assert(_delta.size() == delta_size_ && "Wrong _delta vector size");
     assert(_x_plus_delta.size() >= x_size_ && "Wrong _x_plus_delta vector size");