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ty complaining about TypeVar usage in the factorial code #263

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@SamDuffield

The TypeVar usage in the factorial code e.g. here

KalmanState = TypeVar("KalmanState", KalmanFilterState, LinearizedKalmanFilterState)

causes some issues with ty which are currently ignored.

A possible solution is to use overload to specify the return type should be the same as the input type although this clutters the code quite a bit. Another solution is just to use ArrayTreeLike.

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    cleanlinessGeneral code quality (including type hints)

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