removed useless code

include/core/problem/prior_problem.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--------
-#pragma once
-
-#include "core/state_block/prior.h"
-
-namespace wolf
-{
-
-class PriorProblem : public Prior
-{
-    protected:
-        double time_tolerance_;    // time tolerance of the first frame
-
-    public:
-        PriorProblem() = default;
-        PriorProblem(const std::string&     _type,
-                     const Eigen::VectorXd& _state,
-                     const double& _time_tolerance,
-                     const std::string&     _mode      = "fix",
-                     const Eigen::VectorXd& _noise_std = Eigen::VectorXd(0));
-
-        PriorProblem(const YAML::Node& _n);
-
-        virtual ~PriorProblem() = default;
-
-        double getTimeTolerance() const;
-
-        using Prior::check;
-
-        std::string print() const override;
-};
-
-typedef std::unordered_map<char, PriorProblem> StdMapPriorProblem;
-
-class PriorProblemMap : public StdMapPriorProblem
-{
-    public:
-        using StdMapPriorProblem::StdMapPriorProblem;
-
-        PriorProblemMap(const YAML::Node& _n);
-        virtual ~PriorProblemMap() = default;
-};
-
-inline double PriorProblem::getTimeTolerance() const { return time_tolerance_; }
-
-}  // namespace wolf
\ No newline at end of file

src/problem/prior_problem.cpp

-//--------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--------
-
-#include "core/problem/prior_problem.h"
-#include "core/state_block/factory_state_block.h"
-#include "core/common/params_base.h" // toString()
-
-namespace wolf
-{
-
-PriorProblemMap::PriorProblemMap(const YAML::Node& priors_node)
-{
-    if (not priors_node.IsMap())
-    {
-        throw std::runtime_error("PriorProblemMap: constructor with a non-map yaml node");
-    }
-    for (auto prior_pair : priors_node)
-    {
-        this->emplace(prior_pair.first.as<char>(), PriorProblem(prior_pair.second));
-    }
-}
-
-PriorProblem::PriorProblem(const std::string&     _type,
-                           const Eigen::VectorXd& _state,
-                           const double& _time_tolerance,
-                           const std::string&     _mode,
-                           const Eigen::VectorXd& _noise_std) :
-    Prior(_type, _state, _mode, _noise_std),
-    time_tolerance_(_time_tolerance)
-{
-    check();
-}
-
-PriorProblem::PriorProblem(const YAML::Node& prior_node) :
-    Prior(prior_node)
-{
-    time_tolerance_ = prior_node["time_tolerance"].as<double>();
-
-    check();
-}
-
-std::string PriorProblem::print() const
-{
-    return Prior::print() + 
-           "time_tolerance: " + toString(time_tolerance_) + "\n";
-}
-
-}  // namespace wolf
\ No newline at end of file