Confirm what log (or parameterization/metric) to use in PriorPose2

[Affie]

RoME.jl/src/factors/PriorPose2.jl

Lines 34 to 44 in 4204c3e

	# TODO the log here looks wrong (for gradients), consider:
	# X = log(p⁻¹ ∘ m)
	# X = log(M, ϵ, Manifolds.compose(M, inv(M, p), m))
	function (cf::CalcFactor{<:PriorPose2})(
	m::ArrayPartition{T, Tuple{SVector{2, T}, SMatrix{2, 2, T, 4}}},
	p::ArrayPartition{T, Tuple{SVector{2, T}, SMatrix{2, 2, T, 4}}}) where T<:Real
	M = getManifold(Pose2)
	Xc = _vee(M, log(M, p, m))
	return Xc
	end