add theta th in ProcessorOdom2D

Add a theta threshold for the key-frame creation of the ProcessorOdom2D.

src/processor_odom_2D.cpp

@@ -5,24 +5,31 @@ namespace wolf
 ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr)
 {
     Scalar dist_traveled_th ;
+    Scalar theta_traveled_th ;
     Scalar cov_det_th       ;
     Scalar elapsed_time_th  ;
+
     if (_params)
     {
         std::shared_ptr<ProcessorParamsOdom2D> params = std::static_pointer_cast<ProcessorParamsOdom2D>(_params);
-        dist_traveled_th = params->dist_traveled_th_;
-        cov_det_th       = params->cov_det_th_;
-        elapsed_time_th  = params->elapsed_time_th_;
+        dist_traveled_th  = params->dist_traveled_th_;
+        theta_traveled_th = params->theta_traveled_th_;
+        cov_det_th        = params->cov_det_th_;
+        elapsed_time_th   = params->elapsed_time_th_;
     }
     else
     {
         std::cout << __FILE__ << ":" << __FUNCTION__ << "() : No parameters provided. Using dummy set." << std::endl;
         dist_traveled_th = 1;
+        theta_traveled_th = 0.17;
         cov_det_th       = 1;
         elapsed_time_th  = 1;
     }
-    ProcessorOdom2DPtr prc_ptr = std::make_shared<ProcessorOdom2D>(dist_traveled_th, cov_det_th, elapsed_time_th);
+
+    ProcessorOdom2DPtr prc_ptr = std::make_shared<ProcessorOdom2D>(dist_traveled_th, theta_traveled_th,
+                                                                   cov_det_th, elapsed_time_th);
     prc_ptr->setName(_unique_name);
+
     return prc_ptr;
 }