basic solver

[Affie]

TODO

• downsolve
• update vnd and estimate - updates needed in DFG
• init

[codecov-io]

Codecov Report

Merging #469 into feature/4Q19/parametric will decrease coverage by 1.79%.
The diff coverage is 0%.

@@                    Coverage Diff                     @@
##           feature/4Q19/parametric     #469     +/-   ##
==========================================================
- Coverage                    44.51%   42.71%   -1.8%     
==========================================================
  Files                           31       32      +1     
  Lines                         3900     4064    +164     
==========================================================
  Hits                          1736     1736             
- Misses                        2164     2328    +164

Impacted Files	Coverage Δ
src/IncrementalInference.jl	66.66% <ø> (ø)	⬆️
src/TreeBasedInitialization.jl	50.51% <ø> (ø)	⬆️
src/BeliefTypes.jl	33.33% <ø> (ø)	⬆️
src/SubGraphFunctions.jl	22.68% <0%> (-4.82%)	⬇️
src/DefaultNodeTypes.jl	36.14% <0%> (-14.71%)	⬇️
src/ParametricUtils.jl	0% <0%> (ø)
src/TetherUtils.jl	0% <0%> (ø)	⬆️
src/ParametricCliqStateMachine.jl	0% <0%> (ø)	⬆️

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