add CalcFactor.manifold, all factors getManifold

[dehann]

Largely replaces:

• ccw.manifold, wip, partial fix required #1415

Also relates to:

• Standarize partials definition and behavior #1492

Helped discover a potential series of bugs:

• Confirm ccw.measurement for prior or relative (point or tangent) #1661

[dehann]

This PR is showing bugs downstream with RoME tests on PartialPose3ZRP. Will first clear that before merging here.

[codecov]

Codecov Report

Merging #1662 (1c9dd13) into master (72bcea4) will decrease coverage by 0.08%.
The diff coverage is 66.66%.

❗ Current head 1c9dd13 differs from pull request most recent head 90c25e1. Consider uploading reports for the commit 90c25e1 to get more accurate results

@@            Coverage Diff             @@
##           master    #1662      +/-   ##
==========================================
- Coverage   76.23%   76.14%   -0.09%     
==========================================
  Files          73       73              
  Lines        5610     5614       +4     
==========================================
- Hits         4277     4275       -2     
- Misses       1333     1339       +6     

Impacted Files	Coverage Δ
src/Factors/GenericMarginal.jl	25.00% <0.00%> (-3.58%)	⬇️
src/Factors/Mixture.jl	92.30% <ø> (ø)
src/Factors/PartialPriorPassThrough.jl	100.00% <ø> (ø)
src/ParametricUtils.jl	69.81% <ø> (ø)
src/entities/FactorOperationalMemory.jl	100.00% <ø> (+15.38%)	⬆️
src/services/NumericalCalculations.jl	92.00% <ø> (ø)
src/services/EvalFactor.jl	81.63% <33.33%> (-1.96%)	⬇️
src/Factors/PartialPrior.jl	42.85% <50.00%> (+14.28%)	⬆️
src/Deprecated.jl	13.84% <81.81%> (+13.84%)	⬆️
src/services/CalcFactor.jl	81.95% <100.00%> (-2.02%)	⬇️
... and 4 more

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