Currently, the return type from getSample should be a <:Tuple.
The current plan is to update to:

• Priors: return a point on manifold
• Factors: return anything a user wants as long as it matches with the factor definition, (standard is tangent vector).

x-ref JuliaRobotics/RoME.jl#465

It should just be noted that the parametric solve will still require a getMeasurementParametric function to be supported.

It will be a breaking change on priors (not sure on factors), so we should aim for v0.25 or v0.26

• v0.25 is maybe better so users can upgrade priors in one go.