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[SymForce] Allow dense linearization in optimizer
Previously, we assumed all linearizations in the optimizer were sparse linearizations. This commit just templates the linearization on the matrix type so it can be used with a dense solver as well. topic: dense_linearization_in_optimizer_too relative: dense_optimization_stats GitOrigin-RevId: 904cd470eb1dc11be2427f7098be12fd93bd3836
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