Fix parametric solveUp svector

Author: Affie

src/manifolds/services/ManifoldSampling.jl

@@ -24,7 +24,12 @@ end
 
 # Sampling Distributions
 # assumes M is a group and will break for Riemannian, but leaving that enhancement as TODO
-function sampleTangent(M::AbstractManifold, z::Distribution, p = getPointIdentity(M), basis::AbstractBasis = DefaultOrthogonalBasis())
+function sampleTangent(
+  M::AbstractManifold,
+  z::Distribution,
+  p = getPointIdentity(M),
+  basis::AbstractBasis = DefaultOrthogonalBasis()
+)
   return get_vector(M, p, rand(z), basis)
 end
 

src/manifolds/services/ManifoldsExtentions.jl

@@ -105,7 +105,7 @@ end
 
 # fallback 
 function getPointIdentity(G::GroupManifold, ::Type{T} = Float64) where {T <: Real}
-  return error("getPointIdentity not implemented on G")
+  return error("getPointIdentity not implemented on $G")
 end
 
 function getPointIdentity(

src/parametric/services/ParametricCSMFunctions.jl

@@ -38,7 +38,7 @@ function solveUp_ParametricStateMachine(csmc::CliqStateMachineContainer)
       vnd = getSolverData(getVariable(csmc.cliqSubFg, v), :parametric)
       # fill in the variable node data value
       logCSM(csmc, "$(csmc.cliq.id) up: updating $v : $val")
-      vnd.val[1] .= val.val
+      vnd.val[1] = val.val
       #calculate and fill in covariance
       #TODO rather broadcast than make new memory
       vnd.bw = val.cov
@@ -146,7 +146,7 @@ function solveDown_ParametricStateMachine(csmc::CliqStateMachineContainer)
         logCSM(csmc, "$(csmc.cliq.id) down: updating $v : $val"; loglevel = Logging.Info)
         vnd = getSolverData(getVariable(csmc.cliqSubFg, v), :parametric)
         #Update subfg variables
-        vnd.val[1] .= val.val
+        vnd.val[1] = val.val
         vnd.bw .= val.cov
       end
     else