Dehann Fourie

I think the manual init is still failing, but autoinit is now performing better. Here is manual init result: - https://github.com/JuliaRobotics/Caesar.jl/blob/twig/3Q19/dynSas_dbg/examples/marine/asv/kayaks/testDynPtExManual.jl 

probably fixed, but will retest for v0.4.3

Depiction of the Bayes tree that associated with this issue. The short branch has a prior on 'X', but that prior information is not properly distributed down the long sibling...

another anecdotal piece of information is that the problem also occurred on a single long branch.

Think this may be related to JuliaRobotics/IncrementalInference.jl#244 which has been postponed for the DFG and CSM upgrades.

From the photo above, the triangle is `x169`, square is `x170`. When looking at the clique low down on right hand branch `(x169)`, the following subgraph is obtained. Note priors...

All these loose fragments should also be computed in parallel btw.

Ha, a little more progress. By looking closer I found that odometry factor x168--x169 is working the wrong way round for some reason,  and then found...

this does not seem to be present in the original factor graph: 

right, so part of the problem was that downward results were not being transferred from cliq sub graphs back to main dfg -- this was an oversight in the new...