better standardize partials and depr threadmodel

[dehann]

Required for upstream IIF.CCW and CF upgrade:

• add CalcFactor.manifold, all factors getManifold IncrementalInference.jl#1662

also see:

• Standarize partials definition and behavior IncrementalInference.jl#1492

Fixes:

• Upgrade Pose2Point2 to Manifolds.jl #622

[codecov]

Codecov Report

Merging #643 (262d62d) into master (c6baa54) will increase coverage by 0.49%.
The diff coverage is 88.00%.

@@            Coverage Diff             @@
##           master     #643      +/-   ##
==========================================
+ Coverage   36.24%   36.73%   +0.49%     
==========================================
  Files          51       51              
  Lines        1995     1971      -24     
==========================================
+ Hits          723      724       +1     
+ Misses       1272     1247      -25     

Impacted Files	Coverage Δ
src/Deprecated.jl	14.28% <ø> (+11.25%)	⬆️
src/RoME.jl	40.00% <0.00%> (-4.45%)	⬇️
src/factors/flux/MixtureFluxPose2Pose2.jl	0.00% <0.00%> (ø)
src/factors/DynPose2D.jl	32.81% <100.00%> (ø)
src/factors/MutablePose2Pose2.jl	69.23% <100.00%> (ø)
src/factors/PartialPose3.jl	95.71% <100.00%> (+0.25%)	⬆️
src/factors/PartialPriorPose2.jl	60.00% <100.00%> (-13.34%)	⬇️
src/factors/Pose2D.jl	96.29% <100.00%> (ø)
src/factors/Pose2Point2.jl	69.23% <100.00%> (+5.59%)	⬆️
src/factors/Pose3D.jl	100.00% <100.00%> (ø)
... and 2 more

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