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Implement `errorTree` in `DiscreteFactor` #6129

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Job	Run time
ubuntu-20.04-gcc-9 Debug	30m 50s
ubuntu-20.04-gcc-9 Release	25m 46s
ubuntu-20.04-clang-9 Debug	20m 19s
ubuntu-20.04-clang-9 Release	21m 43s
ubuntu-22.04-gcc-11 Debug	24m 41s
ubuntu-22.04-gcc-11 Release	20m 25s
ubuntu-22.04-clang-14 Debug	22m 7s
ubuntu-22.04-clang-14 Release	23m 35s
	3h 9m 26s