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Going for partial factors' getManifold to only return the partial manifold definition; as well as getSample to return tangents or points on that partial factor. The rest of the IIF logic should then cater for which variables those factors are connected to and update the numerics accordingly. Currently that is done via factors having .partials::Vector{Int} which strictly specifies the partial dimensions (in coordinates of the variable being updated). This is not perfect and has a bunch of limitations in the near term, but good enough for transition to Manifolds proper so that partial manifolds can be broadly advanced as necessary.
We should do better than define partials as coordinate dimension positions -- i.e.
(3,)
. Rather use a projection function or better..partial
?See legacy workaround: 976a010
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