Draft: Resolve "Implementation of new nodes creation"

Closes #454, #318, #364, #449, #381, #376, #208, #485

include/core/sensor/factory_sensor.h

@@ -70,9 +70,10 @@ namespace wolf
  *
  *     \code
  *     static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const ParamsServer& _server);
+ *     static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const std::string& _yaml_filepath);
  *     \endcode
  *
- * They follow the general implementation shown below:
+ * They follow the general implementations shown below:
  *
  *     \code
  *      static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const ParamsServer& _server)
@@ -85,6 +86,22 @@ namespace wolf
  *                                                                                                                   
  *          return sensor;                               
  *      }
+ *      static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const std::string& _yaml_filepath)
+ *      {
+ *          // parse the yaml file
+ *          auto parser = ParserYaml(_yaml_filepath, "", true);
+ * 
+ *          // load the parameters
+ *          auto server = ParamsServer(parser.getParams());
+ * 
+ *          // Do create the Sensor Parameters --- example: ParamsSensorCamera
+ *          auto params = std::make_shared<ParamsSensorCamera>(_unique_name, server);
+ *          
+ *          // Do create the Sensor object --- example: SensorCamera
+ *          auto sensor = std::make_shared<SensorCamera>(_unique_name, _dim, params, server);
+ *                                                                                                                   
+ *          return sensor;                               
+ *      }
  *     \endcode
  *
  * #### Creating sensors
@@ -97,6 +114,12 @@ namespace wolf
  *     auto camera_ptr = FactorySensor::create("SensorCamera", "Front-left camera", 3, param_server);
  *     \endcode
  *
+ * or:
+ *
+ *     \code
+ *     auto camera_ptr = FactorySensorYaml::create("SensorCamera", "Front-left camera", 3, yaml_filepath);
+ *     \endcode
+ * 
  * where ABSOLUTELY ALL input parameters are important. In particular, the sensor name "Front-left camera" will be used to identify this camera
  * and to assign it the appropriate processors. DO NOT USE IT WITH DUMMY PARAMETERS!
  *
@@ -121,12 +144,16 @@ namespace wolf
  *      namespace {
  *      const bool registered_camera = FactorySensor::registerCreator("SensorCamera", SensorCamera::create);
  *      }
+ *      namespace {
+ *      const bool registered_camera_yaml = FactorySensorYaml::registerCreator("SensorCamera", SensorCamera::create);
+ *      }
  *      main () { ... }
  *      \endcode
  *   or inside your main(), where a direct call is possible:
  *      \code
  *      main () {
  *          FactorySensor::registerCreator("SensorCamera", SensorCamera::create);
+ *          FactorySensor::registerCreatorYaml("SensorCamera", SensorCamera::create);
  *          ...
  *      }
  *      \endcode
@@ -136,9 +163,11 @@ namespace wolf
  *      \code
  *      namespace {
  *      const bool registered_camera = FactorySensor::registerCreator("SensorCamera", SensorCamera::create);
+ *      const bool registered_camera_yaml = FactorySensorYaml::registerCreator("SensorCamera", SensorCamera::create);
  *      }
  *      \endcode
- *   Automatic registration is recommended in wolf, and implemented in the classes shipped with it using the macro WOLF_REGISTER_SENSOR(SensorType).
+ *   Automatic registration is recommended in wolf, and implemented in the classes shipped with it using the macros
+ *   WOLF_REGISTER_SENSOR(SensorType) and WOLF_REGISTER_SENSOR_YAML(SensorType).
  *   You are free to comment out these lines and place them wherever you consider it more convenient for your design.
  *
  * #### Example 2: creating sensors
@@ -160,24 +189,18 @@ namespace wolf
  *      //    the parameter server or a yaml file
  *
  *      SensorBasePtr camera_1_ptr =
- *          FactorySensor::create ( "SensorCamera" ,
- *                                        "Front-left camera" ,
- *                                        extrinsics_1 ,
- *                                        intrinsics_1 );
+ *          FactorySensor::create ( "SensorCamera", 
+ *                                  "Front-left camera" ,
+ *                                  3 ,
+ *                                  parameter_server );
  *
  *      // A second camera... with a different name!
  *
- *      Eigen::VectorXd        extrinsics_2(7);
- *
- *      ParamsSensorCameraPtr  intrinsics_2 =
- *          FactoryParamsSensor::create("ParamsSensorCamera",
- *                                            camera_2.yaml);
- *
  *      SensorBasePtr camera_2_ptr =
  *          FactorySensor::create( "SensorCamera" ,
- *                                       "Front-right camera" ,
- *                                       extrinsics_2 ,
- *                                       intrinsics_2 );
+ *                                 "Front-right camera" ,
+ *                                 3 ,
+ *                                 yaml_filename );
  *
  *      return 0;
  *  }