Draft: Resolve "Implementation of new nodes creation"

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

include/core/sensor/sensor_base.h

@@ -128,7 +128,7 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
         CaptureBasePtr last_capture_; // last capture of the sensor (in the WOLF tree)
 
     protected:
-        Eigen::VectorXd noise_std_; // std of sensor noise
+        //Eigen::VectorXd noise_std_; // std of sensor noise
         Eigen::MatrixXd noise_cov_; // cov matrix of noise
 
         void setProblem(ProblemPtr _problem) override final;
@@ -146,6 +146,7 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
          *
          **/
         SensorBase(const std::string& _type,
+                   const std::string& _unique_name,
                    const SizeEigen& _dim,
                    const Priors& _priors,
                    ParamsSensorBasePtr _params);
@@ -159,8 +160,8 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
          *
          **/
         SensorBase(const std::string& _type,
-                   const SizeEigen& _dim,
                    const std::string& _unique_name,
+                   const SizeEigen& _dim,
                    const ParamsServer& _server,
                    std::string _keys);