Question, assert getSample / getMeasurement does not have access to graph variable solve values

[dehann]

[Affie]

IncrementalInference.jl/src/manifolds/services/ManifoldSampling.jl

Lines 99 to 119 in 697113c

	"""
	$SIGNATURES
	Sample the factor in `CalcFactor`. A default `getSample` method is provided that should cover most use cases,
	if more advanced sampling is required, the `getSample` function should be extended.
	The default behavior for `getSample` is as follows:
	- The `SamplableBelief`` shall be in the field `Z` and that shall be enough to fully define the factor, i.e. `Z<:SamplableBelief` should be the only field.
	- Sampling on `<:AbstractManifoldMinimize` factors defined on Group Manifolds:
	- `getSample` normally returns a tangent vector at the identity element, however it should just match the custom factor definition.
	- Sampling on prior (`<:AbstractPrior`) factors :
	- `getSample` must return a point on the manifold that matches the point representation of the variable.
	Notes
	- Users should overload this method should their factor not only use field `Z` for the `SamplableBelief`.
	- See the Custom Factors section in the Caesar.jl documentation for more examples and details.
	- Also see issue https://github.com/JuliaRobotics/IncrementalInference.jl/issues/1441
	See also: [`getMeasurementParametric`](@ref)
	"""
	function getSample end

Should have access to variables through calcFactor.

[Affie]

Parametric uses getFactorMeasurementParametric and getMeasurementParametric (get mean sigma)
Names should be upgraded though.
Parametric does not have full access to variables for performance reasons (use cache)