Johannes Terblanche

Example plots above were adapted from the ranges examples from https://github.com/JuliaRobotics/RoME.jl/blob/master/examples/RangesExample.jl EDIT: I just moved `:l100` and `:l3` for a clearer picture and used tighter covariances: - `GTp[:l100] = [-20.0;0]`...

The first one is just in general and not really a specific example. I'll put up the code for the examples so you can modify them. I just fiddled with...

@dehann, this is basically just the example linked above with minor modifications. ```julia using DistributedFactorGraphs using IncrementalInference using RoME using RoMEPlotting ## GTp = Dict{Symbol, Vector{Float64}}() GTp[:x0] = [-20.0;0] GTp[:x1]...

Btw, initializing `x1`(or `x2`) with `initManual!`, stops the error.

I'm not completely following the issue. I had similar conditional failures before and I added it as a comment for future reference (so I don't have to figure it out...

I left it like this on purpose as it doesn't seem to make a difference as types are still dynamically dispatched and this just increases the compile time.

You can go ahead and merge if you are seeing a performance improvement.

Perhaps just post your benchmark code here for this improvement, or perhaps it's better if we make a separate benchmark issue. I wan't to start collecting benchmark tests to include...

Untested: - [ ] testParametricSimulated.jl is not included in the tests and also needs manifolds updates

Maybe this one also helps