WIP: Resolve "Processor constructors and creators requiring a sensor pointer?"

Closes #248 (closed)

hello_wolf/hello_wolf_config.yaml

 config:
 
   problem:
-    frame structure:      "PO"
+    frame_structure:      "PO"
     dimension:            2
-    prior timestamp:      0.0
-    prior state:          [0,0,0]
-    prior cov:            [[3,3],.01,0,0,0,.01,0,0,0,.01]
-    prior time tolerance: 0.1
+    prior:
+      timestamp:      0.0
+      state:          [0,0,0]
+      cov:            [[3,3],.01,0,0,0,.01,0,0,0,.01]
+      time_tolerance: 0.1
     
- 
   sensors:
     -
       type: "ODOM 2D"
       name: "odom"
+      k_disp_to_disp: 0.1
+      k_rot_to_rot: 0.1
+      extrinsic: 
+        pose: [0,0,0]
 
     - 
       type:                       "RANGE BEARING"
       name:                       "rb"  
-      noise range metres std:     0.1
-      noise bearing degrees std:  0.5  
-      
+      noise_range_metres_std:     0.1
+      noise_bearing_degrees_std:  0.5  
+          
   processors:
     -
       type:           "ODOM 2D"
       name:           "odom"
-      sensor name:    "odom"
-      voting active:  true
-      time tolerance: 0.1
-      max time span:  999
+      sensor_name:    "odom"
+      voting_active:  true
+      voting_aux_active:  false
+      time_tolerance: 0.1
+      max_time_span:  999
       dist_traveled:  0.95
       angle_turned:   999
-      cov_det:        999
+      max_buff_length: 999
       unmeasured_perturbation_std: 0.001
+      cov_det:        999
     
     -
       type:         "RANGE BEARING"
       name:         "rb"
-      sensor name:  "rb"
+      sensor_name:  "rb"
+      voting_active:  false
+      voting_aux_active:  false
+      time_tolerance: 0.1
     
     
 files:
-#    - "/Users/jsola/dev/wolf_lib/core/lib/libhellowolf.dylib"
+#    - "/Users/jsola/dev/wolf lib/core/lib/libhellowolf.dylib"
   
     
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