solveGraphParametric returns points on manifold

[Affie]

Make sure it is consistent everywhere. It was coordinates in updateGraphParametric and points in tree solve.
Should also add tests.

• fix solveConditionalsParametric, perhaps consolidate with solveGraphParametric see Perhaps consolidate solveConditionalsParametric and solveGraphParametric #1584
• add tests for autoinit
• RoME tests will need to be updated

[codecov]

Codecov Report

Merging #1568 (f65579e) into master (167c964) will decrease coverage by 0.06%.
The diff coverage is 59.70%.

@@            Coverage Diff             @@
##           master    #1568      +/-   ##
==========================================
- Coverage   77.68%   77.62%   -0.07%     
==========================================
  Files          71       71              
  Lines        5095     5099       +4     
==========================================
  Hits         3958     3958              
- Misses       1137     1141       +4     

Impacted Files	Coverage Δ
src/Deprecated.jl	0.00% <0.00%> (ø)
src/ParametricCSMFunctions.jl	88.60% <ø> (ø)
src/ManifoldsExtentions.jl	67.85% <87.50%> (-0.15%)	⬇️
src/ParametricUtils.jl	70.69% <89.18%> (+4.03%)	⬆️
src/Factors/Circular.jl	71.42% <0.00%> (-3.58%)	⬇️
src/SolverUtilities.jl	43.28% <0.00%> (-1.50%)	⬇️
src/SolveTree.jl	95.83% <0.00%> (-1.39%)	⬇️

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[Affie]

I suspect something upstream might have broken tests as tests are failing that are unrelated to this PR.

[dehann]

Think it might be timing out, there are tons of printouts, e.g.:

┌ Warning: H
│   z =
│    1×1 Matrix{Float64}:
│     2.2280376589546504
│   x1 =
│    1-element Vector{Float64}:
│     -2.27696645737917
│   x2 =
│    1-element Vector{Float64}:
│     -0.04892879844156184
└ @ IncrementalInference ~/work/IncrementalInference.jl/IncrementalInference.jl/src/Factors/LinearRelative.jl:41

[dehann]

Resolved in

• Fix samplTangent MKD coords, and test #1576