Resolve "Simplifying delta covariance in ProcessorOdom2/3D"

Closes #326 (closed)

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added 12 commits

• e1fa6c08...0abdcf54 - 12 commits from branch devel

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added 149 commits

• 0abdcf54...a688748f - 149 commits from branch devel

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added 2 commits

• d9b175c1 - Remove noise params from ProcessorOdom3d
• 384ed4f5 - Add helper in SensorOdomXd to compute covariance

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marked this merge request as ready

@mederic_fourmy could you have a look at this MR and click Approve if you find it ok?

Done:

• remove all related to noise covariance from sensor params in ProcessorOdom3d. Now covariance must come from the Capture always
• To help compute the Capture covariance in callbacks, a helper function computeCovFromMotion() has been added to SensorOdom2d and 3d. The parameters for passing from motion data to covariance are stored in the sensor itself. The call to this helper function is not mandatory and the user can put any covariance in the Captures.

approved this merge request

mentioned in commit a9ac8f0c

merged