Draft: Resolve "Implementation of new nodes creation"

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

demos/hello_wolf/hello_wolf.cpp

@@ -130,7 +130,9 @@ int main()
 
     // sensor odometer 2d
     ParamsSensorOdom2dPtr intrinsics_odo    = std::make_shared<ParamsSensorOdom2d>();
-    SensorBasePtr sensor_odo                = problem->installSensor("SensorOdom2d", "sensor odo", Vector3d(0,0,0), intrinsics_odo);
+    Priors priors_odo                       = {{'P',Prior("P", Vector2d::Zero())},
+                                               {'O',Prior("O", Vector1d::Zero())}};
+    SensorBasePtr sensor_odo                = problem->installSensor("SensorOdom2d", "sensor odo", intrinsics_odo, priors_odo);
 
     // processor odometer 2d
     ParamsProcessorOdom2dPtr params_odo     = std::make_shared<ParamsProcessorOdom2d>();
@@ -145,9 +147,11 @@ int main()
 
     // sensor Range and Bearing
     ParamsSensorRangeBearingPtr intrinsics_rb = std::make_shared<ParamsSensorRangeBearing>();
-    intrinsics_rb->noise_range_metres_std   = 0.1;
-    intrinsics_rb->noise_bearing_degrees_std = 1.0;
-    SensorBasePtr sensor_rb                 = problem->installSensor("SensorRangeBearing", "sensor RB", Vector3d(1,1,0), intrinsics_rb);
+    Priors priors_rb                          = {{'P',Prior("P", Vector2d(1,1))},
+                                                 {'O',Prior("O", Vector1d::Zero())}};
+    intrinsics_rb->noise_range_metres_std     = 0.1;
+    intrinsics_rb->noise_bearing_degrees_std  = 1.0;
+    SensorBasePtr sensor_rb                   = problem->installSensor("SensorRangeBearing", "sensor RB", intrinsics_rb, priors_rb);
 
     // processor Range and Bearing
     ParamsProcessorRangeBearingPtr params_rb = std::make_shared<ParamsProcessorRangeBearing>();