Resolve "Revisit demos (formerly called examples) and update them"

Closes #209 (closed)

src/landmark/landmark_base.cpp

@@ -189,12 +189,11 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
     unsigned int    id          = _node["id"]               .as< unsigned int     >();
     Eigen::VectorXs pos         = _node["position"]         .as< Eigen::VectorXs  >();
     bool            pos_fixed   = _node["position fixed"]   .as< bool >();
-    std::string     type        = _node["type"]             .as< std::string >();
 
     StateBlockPtr pos_sb = std::make_shared<StateBlock>(pos, pos_fixed);
     StateBlockPtr ori_sb = nullptr;
 
-    if (!_node["orientation"].as<std::string>().empty())
+    if (_node["orientation"])
     {
         Eigen::VectorXs ori       = _node["orientation"].as< Eigen::VectorXs >();
         bool            ori_fixed = _node["orientation fixed"].as< bool >();
@@ -205,7 +204,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
             ori_sb = std::make_shared<StateBlock>(ori, ori_fixed);
     }
 
-    LandmarkBasePtr lmk = std::make_shared<LandmarkBase>(type, pos_sb, ori_sb);
+    LandmarkBasePtr lmk = std::make_shared<LandmarkBase>("BASE", pos_sb, ori_sb);
     lmk->setId(id);
 
     return lmk;