Dehann Fourie

Punted post DFG and CSM upgrades, which is now complete in RoME v0.4.0

Pending AMP3D upgrade

Hi Johan, thanks for the write-up, I have many thoughts and will respond later today or tomorrow once I get the ideas organized. I think there is an **Option D**...

## Option D Keep `DFG.@defVariable` roughly unchanged (adding only small modifications) so that these functions remain in use: ```julia getDimension(::Manifold) getManifold(::InferenceVariable) ``` This resolves through dispatch how "Manifold type" information...

The decision for IIF v0.25 was that LazyWrapper is a convenience, and IIF / RoME should foremost first support the same thing Manifolds.jl does, so users can mix and match...

An envisioned ability of the solver to "ignore" a variable until some criteria has been met. Most prominent example is adding single range measurements to a new landmark variable does...

Relevant to discussions with @tonioteran as well as mention for future notifications.

cc @pvazteixeira

All right then -- sounds like consensus to me! I'll get on it as soon I can (IIF v0.7.0 imminant). May ask ya'll to help test once the update is...

Maybe use the name **smart variables** to designate this? Almost the exact inverse of an "out-marginalized" variable ... another option might be the: "in-conceivable" variables.