Another question here is whether we should just update Mixture to be a regular <:SamplableBelief density rather than quasi factor-density structure it is now. i.e. change everything so that PriorPose2(Mixture((.., ...), (0.5;0.5))). Should never have gone down the road of Mixture(PriorPose2, (..,...),(0.5,0.5)) as it is now.
Originally posted by @dehann in #1407 (comment)
Another question here is whether we should just update Mixture to be a regular
<:SamplableBeliefdensity rather than quasi factor-density structure it is now. i.e. change everything so thatPriorPose2(Mixture((.., ...), (0.5;0.5))). Should never have gone down the road ofMixture(PriorPose2, (..,...),(0.5,0.5))as it is now.Originally posted by @dehann in #1407 (comment)