Hybrid Improvements #1290
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Hybrid Improvements #1290
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HybridNonlinearFactorGraph::linearizereturns a shared pointer instead of an object so we avoid a copy.HybridNonlinearFactorGraph::push_backfor containers. Needed else compiler has ambiguity errors.HybridNonlinearISAMclass based on theNonlinearISAMclass. Works well as per the unit tests.