add dep Manifolds.jl, towards new defs

[dehann]

xref JuliaRobotics/ApproxManifoldProducts.jl#32

also close #1203

[codecov]

Codecov Report

Merging #1209 (f9a5bab) into master (7d45670) will increase coverage by 0.12%.
The diff coverage is 83.78%.

@@            Coverage Diff             @@
##           master    #1209      +/-   ##
==========================================
+ Coverage   74.12%   74.24%   +0.12%     
==========================================
  Files          55       56       +1     
  Lines        4630     4605      -25     
==========================================
- Hits         3432     3419      -13     
+ Misses       1198     1186      -12     

Impacted Files	Coverage Δ
src/Factors/Circular.jl	86.95% <0.00%> (ø)
src/Factors/EuclidDistance.jl	30.76% <0.00%> (-2.57%)	⬇️
src/IncrementalInference.jl	87.50% <ø> (ø)
src/TreeDebugTools.jl	50.64% <0.00%> (+0.64%)	⬆️
src/SolveTree.jl	97.36% <83.33%> (-0.20%)	⬇️
src/Deprecated.jl	20.00% <100.00%> (-8.58%)	⬇️
src/FGOSUtils.jl	74.21% <100.00%> (-0.35%)	⬇️
src/Factors/LinearRelative.jl	84.21% <100.00%> (+3.25%)	⬆️
src/JunctionTree.jl	84.63% <100.00%> (+0.06%)	⬆️
src/SolverAPI.jl	89.00% <100.00%> (ø)
... and 3 more

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