Resolve "Migrate from StateBlock to StateDerived"

Closes #465 (closed)

test/gtest_factory_state_block.cpp

@@ -37,7 +37,7 @@
 using namespace wolf;
 
 
-TEST(FactoryStateBlock, creator_non_registered)
+TEST(FactoryStateBlock, creator_non_registered_key)
 {
     // non registered -> throw
     ASSERT_THROW(auto sba = FactoryStateBlock::create("A", Eigen::Vector1d(6), false), std::runtime_error);
@@ -45,21 +45,7 @@ TEST(FactoryStateBlock, creator_non_registered)
 
 TEST(FactoryStateBlock, creator_StateBlock)
 {
-    auto sbp = FactoryStateBlock::create("StateBlock", Eigen::Vector3d(1,2,3), false);
-    auto sbv = FactoryStateBlock::create("StateBlock", Eigen::Vector2d(4,5), true);
-    auto sbw = FactoryStateBlock::create("StateBlock", Eigen::Vector1d(6), false);
-
-    ASSERT_MATRIX_APPROX(Eigen::Vector3d(1,2,3) , sbp->getState(), 1e-20);
-    ASSERT_MATRIX_APPROX(Eigen::Vector2d(4,5)   , sbv->getState(), 1e-20);
-    ASSERT_MATRIX_APPROX(Eigen::Vector1d(6)     , sbw->getState(), 1e-20);
-
-    ASSERT_FALSE(sbp->isFixed());
-    ASSERT_TRUE (sbv->isFixed());
-    ASSERT_FALSE(sbw->isFixed());
-
-    ASSERT_FALSE(sbp->hasLocalParametrization());
-    ASSERT_FALSE(sbv->hasLocalParametrization());
-    ASSERT_FALSE(sbw->hasLocalParametrization());
+    ASSERT_THROW(auto sbp = FactoryStateBlock::create("StateBlock", Eigen::Vector3d(1,2,3), false), std::runtime_error);
 }
 
 TEST(FactoryStateBlock, creator_Quaternion)