Joint optimization with differerent type of variables

[carlin314]

First, thanks for publishing the minisam library, it is very helpful.

However, I come across some problem, and hope to get some advice from you.

I am designing system like under, I have variables: lij and Ti, which is different type, one is a number belong to [0,1], one is a transformation belong to SE(2)

I first put all SE(2) in the initials, but when I put lij to initials, I get error like under

So I am wondering if we can't joint optimize different type of variables? 

I have an idea to work around like defining lij as SE(2), but only use part of it in error function, but I am curious if there is a way to do this directly.

[carlin314]

my bad, this is just a bug of my code, I misuse str as key not key()