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Consolidate predictbelief, productbelief, localProduct #1141

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Consolidate predictbelief, productbelief, localProduct#1141
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APIinferencerefactoringstandardization
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v0.0.x
@dehann

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@dehann
dehann
opened on Jan 30, 2021

Towards resolving #1010, and JuliaRobotics/RoME.jl#244

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