fast-forward upstream DFG integration tests#1945
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* fix optim converged * Temporary pin manifolds
* Updates for DFG factor refactoring. * fix tests for removal of GFND * rather use getState -> getFactorState * bump to v0.36 and use copyto * getSolverData -> getVariableState
Splitting out IIFTypes as a separate module.
Update for Abstract types from DFG 1154
rename VariableState -> State
also test DERelative backward problem
fast-forward keep solve changes (first use is extracting DERelative odes)
legacy solveTree(=:parametric) functional, intro CSMOptions
consolidate CSMOptions, drop TreeBelief
Improve autoinitParametric! (cherry pick #1936)
several test fixes using maniproduct w selective resampling
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