Processors api

Try to make some order in the APIs of all processors, by using a const ref to the Params object in the constructor.

Many of the usual processors are like this.

Also, try to avoid structures of Params with constructors/destructors for simplicity

src/processor_odom_2D.cpp

@@ -2,18 +2,14 @@
 namespace wolf
 {
 
-ProcessorOdom2D::ProcessorOdom2D(const Scalar& _dist_traveled_th,
-                                 const Scalar& _theta_traveled_th,
-                                 const Scalar& _cov_det_th,
-                                 const Scalar& _elapsed_time_th,
-                                 const Scalar& _unmeasured_perturbation_std) :
-        ProcessorMotion("ODOM 2D", 3, 3, 3, 2),
-        dist_traveled_th_(_dist_traveled_th),
-        theta_traveled_th_(_theta_traveled_th),
-        cov_det_th_(_cov_det_th),
-        elapsed_time_th_(_elapsed_time_th)
+ProcessorOdom2D::ProcessorOdom2D(const ProcessorParamsOdom2D& _params) :
+            ProcessorMotion("ODOM 2D", 3, 3, 3, 2),
+            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_)
 {
-    unmeasured_perturbation_cov_ = _unmeasured_perturbation_std * _unmeasured_perturbation_std * Matrix3s::Identity();
+    unmeasured_perturbation_cov_ = _params.unmeasured_perturbation_std_ * _params.unmeasured_perturbation_std_ * Matrix3s::Identity();
 }
 
 ProcessorOdom2D::~ProcessorOdom2D()
@@ -180,11 +176,7 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const
     {
         std::shared_ptr<ProcessorParamsOdom2D> params = std::static_pointer_cast<ProcessorParamsOdom2D>(_params);
 
-        prc_ptr = std::make_shared<ProcessorOdom2D>(params->dist_traveled_th_,
-                                                    params->theta_traveled_th_,
-                                                    params->cov_det_th_,
-                                                    params->elapsed_time_th_,
-                                                    params->unmeasured_perturbation_std_);
+        prc_ptr = std::make_shared<ProcessorOdom2D>(*params);
     }
     else
     {