Draft: Resolve "Implementation of new nodes creation"

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

yaml_templates/solver/SolverCeres.yaml

@@ -11,5 +11,5 @@ parameter_tolerance: 0.0  # DOC Parameter tolerance. Convergence criterion. Typi
 function_tolerance: 0.0  # DOC Function tolerance. Convergence criterion. Typical value: 1e-8 (see: http://ceres-solver.org/nnls_solving.html) - TYPE double
 gradient_tolerance: 0.0  # DOC Gradient tolerance. Convergence criterion. Typical value: 1e-8 (see: http://ceres-solver.org/nnls_solving.html) - TYPE double
 n_threads: 1  # DOC Amount of threads used by ceres. - TYPE unsigned int - OPTIONS [1, 2, 3, 4]
-use_nonmonotonic_steps: false  # OPTIONAL - DOC If the solver is allowed to update the solution with non-monotonic steps. Only used in 'levenberg_marquardt' and 'dogleg' minimizers. - TYPE bool
-max_consecutive_nonmonotonic_steps: 2  # OPTIONAL - DOC Amount of consecutive non-monotonic steps allowed. Only used in 'levenberg_marquardt' and 'dogleg' minimizers. - TYPE unsigned int
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+use_nonmonotonic_steps: false  # OPTIONAL - DOC If the solver is allowed to update the solution with non-monotonic steps. Only used in "levenberg_marquardt" and "dogleg" minimizers. - TYPE bool
+max_consecutive_nonmonotonic_steps: 2  # OPTIONAL - DOC Amount of consecutive non-monotonic steps allowed. Only used in "levenberg_marquardt" and "dogleg" minimizers. - TYPE unsigned int
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