Invalidate sparsity pattern cache#50
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Currently all of the linear solvers cache the sparsity pattern.
I am not entirely sure how this was planned on your side, but for me this regularly panics when I update the graph with new factors between solver rounds.
I added a very simple invalidation, causing the sparsity pattern to be recomputed after each optimize call.
If you have better ideas on how to achieve invalidation I am open to suggestions!