wip toward ipc via perturbation on relative

[dehann]

Slowly working towards closing out #1010

[codecov]

Codecov Report

Merging #1329 (452dbd0) into master (c0f01f9) will increase coverage by 0.13%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master    #1329      +/-   ##
==========================================
+ Coverage   73.16%   73.30%   +0.13%     
==========================================
  Files          61       61              
  Lines        4971     4997      +26     
==========================================
+ Hits         3637     3663      +26     
  Misses       1334     1334              

Impacted Files	Coverage Δ
src/FactorGraphTypes.jl	100.00% <ø> (ø)
src/entities/FactorGradients.jl	100.00% <ø> (ø)
src/services/FactorGradients.jl	100.00% <ø> (+1.72%)	⬆️
src/ApproxConv.jl	92.70% <100.00%> (+0.05%)	⬆️
src/FactorGraph.jl	76.48% <100.00%> (ø)
src/IncrementalInference.jl	80.00% <0.00%> (-8.89%)	⬇️

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