drop use of getManifolds

[dehann]

Only use getManifold instead. Also completely dropping getDomain.

relates to

• Replace all instances of getManifolds with getManifold #1233
• Issue with differential constraint from partial factors #1010,
• Consolidate predictbelief, productbelief, localProduct #1141,
• Integrate with Manifolds.jl RoME.jl#244

[codecov]

Codecov Report

Merging #1234 (6b5be5d) into master (e6864ff) will increase coverage by 0.44%.
The diff coverage is 81.81%.

@@            Coverage Diff             @@
##           master    #1234      +/-   ##
==========================================
+ Coverage   73.49%   73.93%   +0.44%     
==========================================
  Files          55       55              
  Lines        4671     4608      -63     
==========================================
- Hits         3433     3407      -26     
+ Misses       1238     1201      -37     

Impacted Files	Coverage Δ
src/Factors/EuclidDistance.jl	33.33% <0.00%> (+8.33%)	⬆️
src/IncrementalInference.jl	87.50% <ø> (ø)
src/SubGraphFunctions.jl	97.56% <ø> (-0.06%)	⬇️
src/Variables/DefaultVariables.jl	88.88% <ø> (-2.03%)	⬇️
src/Factors/LinearRelative.jl	88.88% <50.00%> (+7.93%)	⬆️
src/FGOSUtils.jl	71.51% <100.00%> (ø)
src/FactorGraph.jl	72.00% <100.00%> (+0.09%)	⬆️
src/GraphProductOperations.jl	96.29% <100.00%> (+0.37%)	⬆️
src/NeedsResolution.jl	7.69% <100.00%> (+7.69%)	⬆️
src/ParametricUtils.jl	65.07% <100.00%> (ø)
... and 8 more

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