Resolve "SolverCeres: more parameters"

Closes #415 (closed)

demos/hello_wolf/yaml/hello_wolf_config.yaml

@@ -23,7 +23,12 @@ config:
     verbose: 0
     period: 0.2
     update_immediately: false
-    n_threads: 1
+    n_threads: 2
+    compute_cov: false
+    minimizer: LEVENBERG_MARQUARDT
+    use_nonmonotonic_steps: false         # only for LEVENBERG_MARQUARDT and DOGLEG
+    function_tolerance: 0.000001
+    gradient_tolerance: 0.0000000001
     
   sensors: