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Fix variable marginalization for IncrementalFixedLagSmoother #6234

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Run time

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Job	Run time
ubuntu-20.04-gcc-9 Debug	30m 47s
ubuntu-20.04-gcc-9 Release	25m 6s
ubuntu-20.04-clang-9 Debug	20m 8s
ubuntu-20.04-clang-9 Release	21m 16s
ubuntu-22.04-gcc-11 Debug	25m 52s
ubuntu-22.04-gcc-11 Release	21m 35s
ubuntu-22.04-clang-14 Debug	22m 19s
ubuntu-22.04-clang-14 Release	22m 59s
	3h 10m 2s