Upgrade parametric batch solve to fully support Manifolds.jl using Manopt.jl

[Affie]

No description provided.

[dehann]

Yes, let's convert one or two factors to Manopt.jl and work it incrementally from there.

Shall we transition the newest abstract to Manopt away from Optim to do this?
https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/blob/bfa8a2ae72cdabb352d193deef86bf7ab2877ba9/src/entities/DFGFactor.jl#L13

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EDIT, we can leave AbstractRelativeMinimize with Optim.jl. Might be cause to override the some of the Optim.jl functionality here, such that it can work with tangents and retractions rather than coordinates. Only if there are issues with Manopt (unlikely). Either way should be easy/good to support Manopt for Manifolds related optimization anyway.